Anti‐windup compensator synthesis for systems with saturation actuators

Abstract

In this paper we synthesize linear and nonlinear output feedback dynamic compensators for plants with saturating actuators. Our approach is direct in the sense that it accounts for the saturation nonlinearity throughout the design procedure as distinct from traditional design techniques that first obtain a linear controller for the ‘unsaturated’ plant and then employ controller modification. We utilize fixed‐structure techniques for output feedback compensation while specifying the structure and order of the controller. In the full‐order case the controller gains are given by LQG‐type Riccati equations that account for the saturation nonlinearity.

Advanced Strategies in Control Systems with Input and Output Constraints

“…Recently several other approaches have been proposed [20,21,22,23,24,25,26]. Due to the characteristics of our problem we follow the ideas introduced in the companion papers [27,28] and also discussed in [29,30] for exponentially unstable systems.…”

Control of discrete-time systems with actuator non-linearities: An LMI approach

“…For continuous-time systems, the problem of actuator saturation has been widely studied and an extensive literature is devoted to it (e.g. Campo et al 1989, Gutman and Hagander 1985, Kapila et al 2001, Lin et al 1994, Tyan and Bernstein 1995. In contrast to the continuous-time, actuator saturation control problem, the problem of stabilizing discrete-time systems in the presence of control signal saturation has received scant attention (for recent exceptions, see Chellaboina et al 1999, Haddad and Kapila 1998, Hanus et al 1987, Hou et al 1997, Lin et al 1996, Mantri et al 1995.…”

Fixed-structure controller synthesis for systems with input nonlinearities and time delay

“…Furthermore, since all control actuation devices are subject to amplitude constraints, it is of paramount importance that system nonlinearities be accounted for in the control design process. There exists an extensive literature devoted to the problem of feedback control design in the presence of input nonlinearities (Glattfelder and Schaufelberge r 1983, Kosut 1983, Campo et al 1989, Bernstein and Haddad 1994, Tyan and Bernstein 1995, Haddad and Kapila 1997. The problem of system nonlinearities is further exacerbated by unavoidabl e system delays.…”