DICII Technical report RR-13.02 Appendix to “Torque setpoint tracking for parallel hybrid electric vehicles using dynamic input allocation”, published on IEEE Transactions on Control Systems Technology

A dynamic allocator is proposed in this section to generalize the strategy for input redundant plants introduced in [1] and extended in [2]. The approach of [1] applies to linear plants with multiple and redundant inputs. The theory is extended here to the case of multiple linear actuators, each of them with its own dynamics, acting on a nonlinear plant with strong input redundancy. In the HEV case the two redundant inputs are the ICE and EM torques and the two actuators with different dynamics are the two propulsion systems. Referring to Figure 3, the “Plant” block corresponds to the following nonlinear system: