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Mathematical Problems in Engineering
Volume 2006, Article ID 37591, 16 pages

Constrained control and rate or increment for linear systems with additive disturbances

1Equipe d'Automatique et de Contrôle des Procédés Industriels, Département de Physique, Faculté des Sciences, UCAM, Marrakesh BP 2390, Morocco
2Departamento de Ingenieria de Sistemas Y Automática, Universidad de Valladolid, Valladolid 47005, Spain

Received 17 May 2005; Revised 9 May 2006; Accepted 18 May 2006

Copyright © 2006 Fouad Mesquine et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper is devoted to the control of linear systems with constrained control and rate or increment with additive bounded disturbances. Necessary and sufficient conditions such that the system evolution respects rate or increment constraints are used to derive stabilizing feedback control. The control law respects both constraints on control and its rate or increment and is robust against additive bounded disturbances. An application to a surface mount robot, where the Y-axis of the machine uses a typical ball screw transmission driven by a DC motor to position circuits boards, is achieved.