Abstract
A new Generalized Minimum Variance control law has been derived recently for the control of nonlinear multivariable systems. In this paper we restrict our interest to single-input, single-output plants with input nonlinearities in the form of hard actuator limits. Since in real systems saturation always exists in some form, e.g. as a result of valve opening limits or finite power supply, this is a natural case to consider. One of the well-known problems associated with input saturation is the integral windup phenomenon, which occurs whenever the controller includes integral action. In this paper, we show that the classical form of the “anti-windup” mechanism can be obtained within the Nonlinear GMV controller framework by a suitable selection of the design parameters. The advantage of the approach is that the anti-windup mechanism is obtained naturally from the optimization problem. There is also the possibility that the technique can be extended for other specialized nonlinear compensation problems.
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