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Technical Brief

Antiwindup Design for Zero-Phase Repetitive Controllers

[+] Author and Article Information
J. V. Flores

School of Engineering,
UFRGS,
Av. Osvaldo Aranha 103,
Porto Alegre 90035-190, RS, Brazil
e-mail: jvflores@ece.ufrgs.br

J. M. Gomes da Silva,, Jr.

School of Engineering,
UFRGS,
Av. Osvaldo Aranha 103,
Porto Alegre 90035-190, RS, Brazil
e-mail: jmgomes@ece.ufrgs.br

D. Sbarbaro

Department of Electrical Engineering,
University of Concepción,
Casilla 43-C, Correo 3,
Concepción 4070043, Chile
e-mail: dsbarbar@udec.cl

M. C. Turner

Department of Engineering,
University of Leicester,
Leicester LE1 7RH, UK
e-mail: mct6@le.ac.uk

A. T. Salton

Engineering Faculty,
PUCRS,
Av. Ipiranga 6681,
Porto Alegre 90619-900, RS, Brazil
e-mail: aurelio.salton@pucrs.br

* denotes a symmetric block element in a matrix.

dist{x,X} denotes the shortest distance between x(t) and any point in the interior of X.

conv{} denotes a convex hull.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received February 28, 2014; final manuscript received April 28, 2015; published online June 24, 2015. Assoc. Editor: Bryan Rasmussen.

J. Dyn. Sys., Meas., Control 137(9), 094503 (Sep 01, 2015) (5 pages) Paper No: DS-14-1095; doi: 10.1115/1.4030610 History: Received February 28, 2014; Revised April 28, 2015; Online June 24, 2015

This paper addresses the antiwindup problem for linear systems equipped with the zero-phase repetitive controller (ZPRC). The antiwindup compensator is designed using a coprime factorization technique and conditions to characterize the sets of admissible references and disturbances are proposed. A numerical example illustrates the application and potentialities of the proposed methodology.

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References

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Flores, J. V., Gomes Da Silva, Jr., J. M., Pereira, L. F. A., and Sbarbaro, D., 2012, “Repetitive Control Design for MIMO Systems With Saturating Actuators,” IEEE Trans. Autom. Control, 57(1), pp. 192–198. [CrossRef]
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Turner, M., Herrmann, G., and Postlethwaite, I., 2007, “Anti-Windup Compensation Using a Decoupling Architecture,” Advanced Strategies in Control Systems With Input and Output Constraints (Lecture Notes in Control and Information Sciences), S.Tarbouriech, G.Garcia, and A.Glattfelder, eds., Vol. 346, Springer, Berlin, pp. 121–171. [CrossRef]
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Turner, M. C., Hermann, G., and Postlethwaite, I., 2003, “Discrete-Time Antiwindup: Part 1—Stability and Performance,” European Control Conference, ECC03, pp. 539–544.
Flores, J. V., Gomes Da Silva, Jr., J. M., and Sartori, R., 2013, “Tracking and Rejection of Periodic Signals for Discrete-Time Linear Systems Subject to Control Saturation,” IET Control Theory Appl., 7(3), pp. 363–371. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Antiwindup structure

Grahic Jump Location
Fig. 2

Equivalent antiwindup structure

Grahic Jump Location
Fig. 3

Simulation results considering the case without (left) and with (right) antiwindup compensation

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