A new anti‐windup strategy for PID controllers with derivative filters

Abstract

This paper presents a new strategy for suppressing the windup effect caused by actuator saturation in proportional-integral-derivative (PID) controlled systems. In the proposed approach, the windup effect is modeled as an external disturbance imported to the PID controller and an observer-based auxiliary controller is designed to minimize the difference between the controller output signal and the system input signal in accordance with an H-infinite optimization criterion. It is shown that the proposed anti-windup (AW) scheme renders the performance of the controlled system more robust toward the effects of windup than conventional PID AW schemes and provides a better noise rejection capability. In addition, the proposed PID AW scheme is system independent and is an explicit function of the parameters of the original PID controller. As a result, the controller is easily implemented using either digital or analog circuits and facilitates a rapid, on-line tuning of the controller parameters as required in order to prevent the windup effect.

An Improved Anti‐Windup Bumpless Transfer Structures Design for Controllers Switching

“…A simple example can be shown in . Motivated by the anti‐windup control structures in , the compensator Γ i ( s ) shown in Fig. is used to guarantee the closed‐loop stability, and is chosen as where i = 1, 2, and the interconnections are …”

“…A simple example can be shown in [9]. Motivated by the anti-windup control structures in [12,13,19], the compensator Γi(s) shown in Fig. 1 is used to guarantee the closed-loop stability, and is chosen as…”

“…Theorem 3. Consider the closed-loop Systems (21) and (19) subject to input saturation. The L2 condition of system (21) ||z||2 < γ ||w||2 holds for any choice of α ∈ [0, 1] if and only if ||zi||2 < γ ||wi||2, where zi and wi are the output and input of system (19).…”

Design of Fixed Structure Pid Controller for Nonlinear System with Saturation

“…Some similar schemes dealing with this problem have been presented . In , an observer‐based auxiliary controller and model of the windup effect is presented, which is based on H ∞ optimization criterion. Many artificial intelligence (AI) techniques have been employed to improve the controller performance for a wide range of plants while retaining their basic characteristics.…”

Robust Saturated PI Joint Velocity Control for Robot Manipulators

“…For example, in a real motor drive, the current command is limited to a prescribed maximum value due to the converter protection, magnetic saturation, and motor overheating . As pointed out in the textbook , p. 171: “saturation is probably the most commonly encountered nonlinearity in control engineering.” See for instance the papers and for methodologies to achieve control of systems involving input saturation. An example of a robot motion controller that takes into account the input constraint of a manipulator is given in , where global output feedback tracking control is guaranteed.…”