MULTILEVEL CONTROLLER FOR LINEAR INTERCONNECTED DYNAMICAL SYSTEMS WITH CONSTRAINTS

In this paper, a class of linear time invariant interconnected dynam- ical systems with constraints on the states and/or control inputs is considered. In this class, the interconnections are considered as perturbations acting in contradiction to the autonomy of the individual subsystems. A multilevel controller is designed to control the behavior of this system while satisfying system constraints. The upper level part of the controller is designed to balance or weaken the effect of the interactions, while the lower level decentralized controllers are designed to insure optimal subsystem performance as well as to satisfy system constraints. An example is given to illustrate the performance of the developed procedure.