Dynamical anti-reset windup method for discrete-time saturating systems

Abstract

This paper presents a dynamical anti-reset windup method for multivariable discrete-time saturating control systems. With the intention of maintaining the behavior of unsaturated linear systems as far as possible, an additional dynamical compensator is determined explicitly for the saturating system. Due to the additional compensator, the state positioning problem of saturated systems is completely resolved. The proposed method guarantees total stability of resulting systems, and asymptotic stability in the absence of exogeneous inputs can be addressed easily. The resulting dynamics of the compensated controller reflects the linear closed-loop system. The proposed method is applicable to any open-loop stable plants with saturating actuators and linear controllers. Simulation examples are included to illustrate the effectiveness of the proposed method.