Description
SATAW-Tool
(SATuration AWare Tool) is
intended to gather multiple theoretical results regarding the
presence of saturation elements in the control loop. At this date, simple functions for manipulating saturation elements
in the control loop are provided. They allow performing analysis
and control design operations for linear systems interconnected with
saturation elements. LMI based functionalities are provided.
For the saturation modeling, sector conditions are used. In this
representation, the saturation term is replaced by a dead-zone
nonlinearity. Hence, sector conditions, locally or globally valid, can
be used to relax stability and stabilization conditions.
The package is yet in development and will be updated at odd times. It
is intended to include several functions for:
* state-feedback or output feedback analysis, in
presence of position saturation and/or rate saturation;
* state-feedback design, in presence of position
saturation (done) and/or rate saturation (to be provided before summer
20113);
* static and dynamic anti-windup analysis, in
presence of various saturated-based nonlinear elements (done currently
only for position saturation elements);
* static and full anti-windup design, in presence of
various saturated-based nonlinear elements (to be provided before
summer 20113).
The theoretical results and the formalisms used in SATAW-Tool have
been fully described in our recently published book. Please refer to it
when you use this toolbox:
@book{TGGQ/2011,
Address = {London (UK)},
Author = {S. Tarbouriech and G. Garcia and J.M.
{Gomes da Silva Jr.} and I. Queinnec},
Publisher = {Springer},
Title = {Stability and Stabilization of Linear
Systems with Saturating Actuators},
Year = {2011}}
License agreement
SATAW-Tool is entirely written in Matlab and uses YALMIP for parsing LMIs. SATAW-Tool is free of charge and openly distributed, in the hope that the will be useful, but without any warranty. You are free to use any of the files of the following toolbox for personal or academic use. It may not be re-distributed as a part of a commercial product. Neither the authors nor CNRS accept any responsibility or liability with regard to this software that is licensed on an "as is" basis.
Download
SATAW-Tool - V0 (25 March 2013) can be downloaded as a zip archive, including this documentation. It is supported for Matlab 7.2 and higher. Remember that it most certainly contains bugs.
To install, delete any old SATAW directory, unzip the downloaded
file, and update your path:
>> addpath whereIputTHEdirectory/SATAW
Note that the functions are provided using YALMIP.
You
can
then
use any SDP solvers among those listed here.
Note also that it makes use (as an option) of Matlab objects ssmodels initially defined for
RoMulOC. It is recommended to install RoMulOC, which is
entirely based on m-code and you just need to unzip romuloc.zip and to
add the required path.
SATAW-Tool strongly
benefits from our cooperation with João-Manoel Gomes da Silva
Jr. Many thanks to him!