Experimental Validation of Controller Switching Strategies for Constrained Systems

Practical control systems necessarily have pointwise-in-time constraints such as a physical limit on state variables and/or such as an actuator bound on control variables. For such systems, switching control strategy techniques are proposed, but few results about experimental evaluations are done. This paper, therefore, considers a switching control strategy using a maximal output admissible set, and investigates the strategy for systems with state and control magnitude constraints. In experimental evaluations of the strategy we utilize practical constrained systems of a DC-motor position servomechanism.