Technical Brief

Antiwindup Design for Zero-Phase Repetitive Controllers

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

School of Engineering,
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,
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,
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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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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