Abstract
On the basic of the fact that all signals in the practical system are always bounded, this paper proposes a 4-degree-of-freedom (DoF) anti-windup scheme for saturated systems with parametric uncertainty. A fairly straightforward tuning rule is introduced to the robust stability analysis for the proposed anti-windup structure under the framework of IQC (Integral Quadratic Constraint). And the sufficient stability conditions are derived to check the reasonable definiteness of the related transfer function. Moreover, the control design for disturbance response and set-point tracking response are two separate part in this proposed scheme. Numerical example demonstrates the effectiveness and the considerable performance improvement of the anti-windup compensator that is designed by the proposed technique.
Highlights
On the basic of the fact that all signals in the practical system are always bounded, this paper proposes a 4-degree-of-freedom (DoF) anti-windup scheme for saturated systems with parametric uncertainty
Based on the Integral Quadratic Constraint (IQC) theory, a sufficient robustness condition is derived and it is proven to be less conservative than existing results in the literature for additive uncertainty
Actuator saturation can be regarded as a particular type of uncertainty of the unconstrained system, and anti-windup compensation can be treated as stability robustness problem of the corresponding unconstrained system
Summary
Where (Kj, Tij, Tdj ) and (Kmj , Tij,m, Tdj ,m) are parameters of jth PID controller. If the following condition is satisfied: umi in ≤ ui ≤ umi ax, i = 1, . Property‐3 When R(s) and Rm(s) are taken as PID controller like (34), (35), the resulting anti-windup system can track the step reference signal without offset and reject the step load disturbance completely, namely lim s→0 s. When G (s) is viewed as reference model, output y(s) in Fig. 4 can be reformulated by the reference output ym(s) and load disturbance d(s) as follows y(s) = Hr(s) · ym(s) + Hd(s) · d(s),. According to (53), (54) and (31), (33), it is verified that: the following property of the proposed anti-windup system is obtained, Property‐4 In mode of reference control (49), (50), both K1(s) are K2(s) are almost decoupled from the reference output signal ym(s) in (50). Property -3 is still valid when (45), (46) is satisfied
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