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TECHNICAL PAPERS

Dynamic Anti-Integrator-Windup Controller Design for Linear Systems With Actuator Saturation

[+] Author and Article Information
Mitsuru Kanamori1

Department of Control Engineering, Maizuru National College of Technology, 234 Aza Shiroya, Maizuru, Kyoto 625-8511, Japankanamori@maizuru-ct.ac.jp

Masayoshi Tomizuka

Department of Mechanical Engineering, University of California at Berkeley, 5100B Etcheverry Hall, Berkeley, CA 94720-1740tomizuka@me.berkeley.edu

1

Corresponding author.

J. Dyn. Sys., Meas., Control 129(1), 1-12 (Jul 04, 2006) (12 pages) doi:10.1115/1.2397146 History: Received August 27, 2003; Revised July 04, 2006

The present paper is concerned with the design of dynamic anti-integrator-windup controllers for critically stable linear systems with a single pole at the origin. The constant gain term in the conventional anti-windup controller is extended to have dynamics represented by a transfer function. The proposed dynamic anti-windup compensator is similar to the one based on co-prime factorization of the plant. The overall controller includes an internal model for constant signals and achieves regulation for constant disturbance and reference inputs as long as the asymptotic control input stays within the saturation limits. The effectiveness of the proposed method is demonstrated on a one-link flexible arm through simulations and experiments.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

State feedback controller for anti-windup

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Figure 2

Output feedback controller based on co-prime factorization

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Figure 3

Output feedback controller with observer for anti-windup

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Figure 4

Schematic diagram of experimental system

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Figure 5

Overview of the experimental system

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Figure 6

Error regulation performance with saturation limits ±5V: (a) without anti-windup block and (b) with anti-windup block

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Figure 7

Error regulation performance with saturation limits ±3V: (a) without anti-windup block and (b) with anti-windup block

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Figure 8

Error regulation performance with saturation limits ±2V: (a) without anti-windup block and (b) with anti-windup block

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Figure 9

Kothare’s unified linear conditioning

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Figure 10

Equivalent transformation of Kothare’s unified conditioning

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Figure 11

Further transformation of Kothare’s unified conditioning

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