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.

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Fig. 1

Block diagram of motivating example

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Fig. 2

Step responses of the system in Fig. 1

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Fig. 3

SISO feedback system with PI-like control and antiwindup

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Fig. 4

Averaged version of system in Fig. 3

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Fig. 6

Responses of the original and averaged systems for the motivating example

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Fig. 5

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

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Fig. 7

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

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Fig. 8

TC control responses

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Fig. 9

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

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Fig. 10

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




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