Model Predictive Control (MPC) is an established control technique in a wide range of process industries. The reason for this success is its ability to handle multivariable systems and systems having input, output or state constraints. Neverthless comparing to PID controller, the implementation of the MPC in miniaturized devices like Field Programmable Gate Arrays (FPGA) and microcontrollers ha...

Multivariable plants under input constraints such as actuator saturation are liable to performance deterioration due to problems of control windup and directional change in control action. In this paper, we propose a two-stage internal model control (IMC) antiwindup design which guarantees optimal closed loop performance both at transient and at steady state. The two-stage IMC is based on the s...

This paper proposes a methodology for improved power controller switching in mobile Body Area Networks operating within the ambient healthcare environment. The work extends Anti-windup and Bumpless transfer results to provide a solution to the ambulatory networking problem that ensures sufficient biometric data can always be regenerated at the base station. The solution thereby guarantees satis...

In this paper, a real-time capable reference governor superordinate model predictive controller (RG-MPC) is developed for fuel cell (FC) control suitable automotive application. The RG-MPC provides trajectories the subordinate proportional-integral (PI) controllers, which act directly on FC system. Antiwindup and decoupling schemes, are common problems in multivariable PI control, unnecessary, ...

In this article, the problem of steering control based on Takagi-Sugeno (T-S) fuzzy vehicle lateral dynamics is investigated for autonomous driving with nonlinearities, system uncertainties, and actuator constraints. During normal cruising, velocity always changes due to different road conditions and/or wheel maneuvers, moreover, also significantly influenced by tire/road forces under surface c...

In this paper, a design method of a static antiwindup compensator which guarantees robust stability subject to saturation nonlinearities and which attenuates a windup phenomena is proposed. Although this design problem has been considered as a non-convex problem in the previous works, we will show that it can be converted into a convex optimization problem with linear matrix inequality constrai...