Design for Feedback Systems With Plant Input Amplitude and Rate Saturation

[+] Author and Article Information
Wei Wu, Suhada Jayasuriya

Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843-3123

J. Dyn. Sys., Meas., Control 128(3), 706-711 (Aug 17, 2005) (6 pages) doi:10.1115/1.2232694 History: Received November 05, 2004; Revised August 17, 2005

In this paper, a method of compensation for feedback systems subject to simultaneous plant input amplitude and rate saturation is presented. It applies to uncertain, stable plants of a type greater than or equal to 1. Founded on Horowitz’s original idea for amplitude saturation compensation (Horowitz, I., 1983, Int. J. Control, 38(1), pp. 169–197) and extensions developed in (Wu, W., and Jayasuriya, S., 1999, Proceedings of American Control Conference, San Diego, CA, pp. 3046–3050; Wu, W., and Jayasuriya, S., 2001, ASME J. Dyn. Syst., Meas., Control, 123(2), pp. 225–232; Wu, W., 2000, Ph.D. dissertation, Texas A&M University), a synthesis method that explicitly takes into account input amplitude and rate saturation is further developed. In the case of simultaneous amplitude and rate saturation, approaches developed separately for amplitude alone, and rate alone saturation (Wu, W., 2000, Ph.D. dissertation, Texas A&M University), respectively, are integrated into one method, and results in a 4DOF(degrees of freedom) feedback system with two extra compensators to deal with two saturation nonlinearities. Design constraints for saturation compensation are developed and expressed as frequency domain bounds. Synthesis of the two additional compensators follows from loop shaping methods, such as QFT. This approach guarantees input/output stability for the class of plants considered. Examples are given to illustrate the application of this approach.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Loop structure with both rate and amplitude saturation

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Figure 2

Step responses for example 1

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Figure 3

Step responses for example 2

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Figure 4

Step responses with various parameter values

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Figure 5

Amplitude saturation output y

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Figure 6

Rate saturation output v

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Figure 7

System outputs under two step inputs




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