A Self Triggered Control Strategy for Disturbance Decoupling

Abstract

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We consider a classical problem of decoupling the output of a linear time-invariant system from the disturbances. It is well known that if certain decoupling conditions are met, there exists a linear state-feedback control that decouples the output from the disturbance. However, the control law obtained for disturbance decoupling in continuous time is usually implemented digitally leading to ineffective decoupling. Typically, one redesigns the decoupling control considering a discrete-time linear system obtained by using a sample and hold mechanism for control with uniform sampling. In contrast, here, we develop a self-triggered control strategy that ensures that the norm of the output of the system under the disturbance input remains bounded within a specified tolerance for all time. Furthermore, a heuristic procedure is provided to increase the time between successive triggers, thus reducing the number of triggers.