Controller design using linear programming for systems with constraints. Part 2: Controller design

For part 1, see ibid. December 2001. This three-part article reviews the techniques used to design controllers, employing linear programming, that minimise the maximum amplitude of selected signals. These controllers can satisfy design specifications for saturation characteristics on amplitude or rate. It is shown also how given an existing linear controller it is possible to check if, for a given set of typical inputs, the signal would exceed its maximum amplitude or rate. This is very useful from a practical point of view. The first part (December 2001) gave a tutorial introduction to the topic. This second part reviews controller design.