Technical Brief

Noise Induced Loss of Tracking in Systems With Saturating Actuators and Antiwindup

[+] Author and Article Information
Yongsoon Eun

Information and Communication Engineering,
Daegu Gyeongbuk Institute of Science and Technology,
Daegu, South Korea
e-mail: yeun@dgist.ac.kr

Eric S. Hamby

Xerox Research Center Webster,
Webster, NY 14580
e-mail: eric.hamby@xerox.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 4, 2012; final manuscript received February 28, 2014; published online May 28, 2014. Assoc. Editor: Jiong Tang.

J. Dyn. Sys., Meas., Control 136(5), 054501 (May 28, 2014) (6 pages) Paper No: DS-12-1405; doi: 10.1115/1.4027163 History: Received December 04, 2012; Revised February 28, 2014

This technical note is devoted to a recently discovered phenomenon that takes place in feedback systems with saturating actuators, proportional-integral (PI) control, and antiwindup. Namely, in such systems, measurement noise induces steady-state error in step tracking, which is incompatible with the standard error coefficients. We quantify this phenomenon using stochastic averaging theory and show that the noise induced loss of tracking occurs only if antiwindup is present. An indicator that predicts this phenomenon is derived, and a rule-of-thumb, based on this indicator, is formulated. An illustration using a digital printing device is provided.

Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Fig. 1

Block diagram of motivating example

Grahic Jump Location
Fig. 2

Step responses of the system in Fig. 1

Grahic Jump Location
Fig. 3

SISO feedback system with PI-like control and antiwindup

Grahic Jump Location
Fig. 4

Averaged version of system in Fig. 3

Grahic Jump Location
Fig. 5

hαβ(u¯;Kpσn) and satαβ(u¯) with α = −1 and β = 2 for Kpσn = 0.5, 1, and 2

Grahic Jump Location
Fig. 6

Responses of the original and averaged systems for the motivating example

Grahic Jump Location
Fig. 7

Plot of hαβ(u¯;Kpσn) for α = −1, β = 2, and Kpσn = 0.2

Grahic Jump Location
Fig. 8

TC control responses

Grahic Jump Location
Fig. 9

TC control response with the revised controller and sensor (Kp = 0.61 and σn = 0.006)

Grahic Jump Location
Fig. 10

Step responses of the system similar to Fig. 1 with antiwindup implementation of Ref. [5]




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In