Delay-dependent H∞ controller design for seismic-excited structures with actuator delay under consideration of actuator saturation

Hakan Yazici, Rahmi Guclu, Ibrahim B. Kucukdemiral

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


This paper studies the design of a state-feedback delay-dependent H∞ controller for vibration attenuation problem of a seismic-excited structural system having time-varying actuator delay, L2 disturbances and actuator saturation. First, sufficient delay-dependent stability criteria are derived by choosing a Lyapunov-Krasovskii functional candidate based on matrix inequalities for a stabilizing H∞ synthesis. To overcome the bilinear matrix inequality problems involved in the delay dependent conditions; a cone complementary linearization method is used to find a feasible solution set. The proposed method utilizes convex description of nonlinear saturation phenomenon by means of convex hull of some linear feedback which leads to a few additional ellipsoidal conditions in terms of linear matrix inequalities (LMIs). By use of the proposed method, a suboptimal controller with maximum allowable delay bound and minimum allowable disturbance attenuation level can be easily obtained by a convex optimization technique. The effectiveness of the proposed controller is illustrated through simulations of the responses of a-four-degree-of-freedom structural system under seismic excitations. Simulation results show that, in spite of the actuator saturation, the designed controller is all effective in reducing vibration amplitudes of storeys and guarantees stability at maximum actuator delay.
Original languageEnglish
Title of host publicationProceedings of the 18th World Congress The International Federation of Automatic Control (IFAC) Milano (Italy)
PublisherElsevier B.V.
Pages11036 - 11041
Number of pages6
Publication statusPublished - Jan 2011
Event18th International Federation of Automatic Control World Congress - Università Cattolica del Sacro Cuore, Milan, Italy
Duration: 28 Aug 20112 Sep 2011

Publication series

NameIFAC Proceedings Volumes
ISSN (Print)1474-6670


Conference18th International Federation of Automatic Control World Congress
Abbreviated title18th IFAC World Congress


  • seismic-excited structures
  • structural dynamics
  • control systems
  • time delay systems


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