Windup Phenomenon Research Articles

Chondroitinase ABC promotes plasticity of spinal reflexes following peripheral nerve injury

Peripheral nerve transection, even with optimal repair, can result in an extensive disruption of central connectivity, which can lead to long-lasting impairments in motor and sensory function. We hypothesised that removal of spinal cord chondroitin sulphate proteoglycans (CSPGs) would promote plasticity in the spinal cord, allowing compensation for inaccurate peripheral reinnervation. In adult rats, the median and radial nerves were cut and repaired, either correctly (median to median and radial to radial), or incorrectly (median to radial and vice versa). This produced two levels of inaccuracy of peripheral reinnervation. Whole nerve recordings from a third brachial plexus nerve, the ulnar, were made during median or radial nerve stimulation. Low and high threshold reflexes were characterised in uninjured animals and a clear difference in the pattern of ulnar response to flexor (median) or extensor (radial) stimulation was established. This included the phenomenon of wind-up, where repetitive median nerve stimulation at supramaximal C-fibre threshold leads to a progressive increase in the number of spikes recorded. To achieve digestion of CSPGs a lentiviral vector expressing ChABC was delivered to the spinal cord via intraspinal injection. Following ChABC treatment, we found several indicators of reorganisation of central connections. Firstly, we found that the amplitude of a low threshold, polysynaptic reflex could be increased after nerve injury, only following treatment with ChABC. Secondly, wind-up of motor responses in the ulnar nerve to supramaximal stimulation of afferents in the median nerve, which collapses after nerve injury (to ~25% of uninjured value), could be restored by ChABC after correct repair (to ~90% of uninjured value). Thirdly, wind-up in ulnar motor axons to stimulation of radial nerve afferents, which is minimal in the uninjured state, becomes significantly stronger after nerve injury and ChABC treatment (a 10 fold increase). We propose that application of a plasticity-promoting treatment to the spinal cord allows the amplification of adaptive changes in response to inaccurate wiring in the periphery.

Anti-Windup PID Controller With Integral State Predictor for Variable-Speed Motor Drives

The windup phenomenon appears and results in performance degradation when the proportional-integral-derivative (PID) controller output is saturated. Integral windup is analyzed on the PI plane, and a new anti-windup PID controller is proposed to improve control performance of variable-speed motor drives and is experimentally applied to the speed control of a vector-controlled induction motor driven by a pulse width-modulated voltage source inverter. The steady-state value of the integral state is predicted while the PID controller output is saturated, and this value is utilized as an initial value of the integral state when the PID controller begins to operate in a linear range. Simulation and experiments result in more similar speed responses against load conditions and step reference change over conventional anti-windup schemes. Control performance, such as overshoot and settling time, is very similar to that determined by PID gain in the linear range.

Observer-based anti-windup compensator design for saturated control systems using an LMI approach

In practical control systems, actuator saturation usually induces a windup phenomenon and potentially results in system instability. Accordingly, this paper develops an observer-based auxiliary anti-windup compensation scheme to mitigate the effects of actuator limitations on the performance and stability of the controlled system. In the proposed approach, the controller output signal passing through the saturation element is treated as an external disturbance imported to the designed controller and an auxiliary controller is designed to minimize the difference between the controller output signal and the system input signal. The conditions required to maintain the system performance in the presence of actuator saturation are formulated as an LMI criterion. The L2-stability criterion of the anti-windup compensator design is also formulated as an LMI condition. It is shown that by integrating the two LMI conditions and solving the resulting optimization problem, the resulting anti-windup controller both minimizes the performance attenuation of the saturated control system and guarantees its L2-stability.

A robust anti-windup control design for electrically driven robots — Theory and experiment

A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach.

화력발전소에서 과열저감기의 증기온도제어

An attemperator is a part of the 4-stage superheater in the boiler system of the thermal power plant. The attemperator receives the over-heated steam and makes the steam with proper temperature by adjusting the control valve of the cold steam. In this paper, the attemperator is modeled considering physical point of view and the linearized model is derived for the control purpose. To overcome the integral windup phenomenon due to the opening limitation of the control valve, an anti-windup PI controller is proposed to the attemperator and compared with the PI controller operated in the thermal power plant in view of control performance.

Bilateral oscillatory hip movements induce windup of multijoint lower extremity spastic reflexes in chronic spinal cord injury

After spinal cord injury (SCI), alterations in intrinsic motoneuron properties have been shown to be partly responsible for spastic reflex behaviors in human SCI. In particular, a dysregulation of voltage-dependent depolarizing persistent inward currents (PICs) may permit sustained muscle contraction after the removal of a brief excitatory stimulus. Windup, in which the motor response increases with repeated activation, is an indicator of PICs. Although windup of homonymous stretch reflexes has been shown, multijoint muscle activity is often observed following imposed limb movements and may exhibit a similar windup phenomenon. The purpose of this study was to identify and quantify windup of multijoint reflex responses to repeated imposed hip oscillations. Ten chronic SCI subjects participated in this study. A custom-built servomotor apparatus was used to oscillate the legs about the hip joint bilaterally and unilaterally from 10° of extension to 40° flexion for 10 consecutive cycles. Surface electromyograms (EMGs) and joint torques were recorded from both legs. Consistent with a windup response, hip and knee flexion/extension and ankle plantarflexion torque and EMG responses varied according to movement cycle number. The temporal patterns of windup depended on the muscle groups that were activated, which may suggest a difference in the response of neurons in different spinal pathways. Furthermore, because windup was seen in muscles that were not being stretched, these results imply that changes in interneuronal properties are also likely to be associated with windup of spastic reflexes in human SCI.

Stimulation of dorsal root afferents increases the excitability of ascending sensory axons in the isolated spinal cord of mature mice

The phenomenon of windup has often been used to assess excitability increases of spinal neurons induced by repetitive stimulation of nociceptive afferents. Windup has been studied in individual spinal cord neurons and in spinal motor reflexes neither of which accurately reflect the forward transmission of nociceptive signals to the brain. In addition, most in vitro studies of spinal windup have been conducted on immature or juvenile animals and it is challenging to extrapolate these results to the adult spinal cord. In the present study, we have used an in vitro whole spinal cord preparation from functionally mature mice (up to 8 weeks old) to record windup activity in ascending axons in the mid-thoracic region evoked by electrical stimulation of a lumbar or sacral dorsal root. Windup responses were observed in axons in the ipsi- and contralateral dorsolateral funiculus (iDLF and cDLF) and in the contralateral ventrolateral funiculus (cVLF). No windup responses were evoked in postsynaptic axons of the ipsilateral dorsal columns (iDC) and no postsynaptic responses were elicited in the ipsilateral ventrolateral funiculus (iVLF) or contralateral dorsal columns (cDC). Between 40% and 45% of all axons in the DLF and cVLF that responded to a single dorsal root stimulus also showed windup. The NMDA receptor antagonist MK-801 reversibly blocked such windup responses. These results illustrate that windup can be consistently recorded from ascending pathways in the mature spinal cord in vitro but also show that windup can only be elicited in a proportion of sensory axons projecting through some, but not all, ascending spinal cord pathways.

Wide‐dynamic‐range neurons are heterogeneous in windup responsiveness to changes in stimulus intensity and isoflurane anesthesia level in mice

The windup phenomenon in wide-dynamic-range (WDR) neurons represents a short-term neuronal sensitization to repetitive noxious inputs that may share similar mechanisms with those that trigger the development of persistent pain and hyperalgesia. Some WDR cells are readily sensitized and express prominent windup (windup(+)), whereas others do not (windup(-)). We recorded extracellular single-unit activity of deep laminae WDR neurons (350-700 microm) in C57BL/6 mice to determine how changes in stimulus intensity (1x and >2x C-component threshold, n = 53) and concentrations of isoflurane anesthesia (2.0% and 1.0%, n = 30) might differently modulate windup responsiveness in windup(+) and windup(-) cells. Two principally different analysis methods [absolute windup (the number of action potentials) and relative windup (the percentage of action potentials evoked by the first stimulus of the train)] were used to interpret windup data. We observed that increasing the stimulus intensity and decreasing the isoflurane concentration: 1) facilitated windup generation at 0.2-Hz stimulation and significantly enhanced absolute windup at both 0.2-Hz and 0.5-Hz stimulation predominantly in windup(+) cells but did not confer windup capability on windup(-) cells and 2) significantly increased relative windup at 0.2-Hz, but not 0.5-Hz, stimulation in windup(+) cells. Our findings advance our understanding of the neurobiology of deep WDR neurons in mice and demonstrate that two populations of cells differ in their windup responsiveness to changes in experimental conditions. We also elucidate the usefulness and potential limitations of two widely used methods for calculating and presenting windup data.

Heterogeneous sensory processing in persistent postherniotomy pain

Previous studies on sensory function in persistent postherniotomy pain (PPP) have only identified pressure pain threshold to be significantly different from pain-free patients despite several patients reporting cutaneous pain and wind-up phenomena. However the limited number of patients studied hinders evaluation of potential subgroups for further investigation and/or treatment allocation. Thus we used a standardized QST protocol to evaluate sensory functions in PPP and pain-free control patients, to allow individual sensory characterization of pain patients from calculated Z-values. Seventy PPP patients with pain related impairment of everyday activities were compared with normative data from 40 pain-free postherniotomy patients operated >1 year previously. Z-values showed a large variation in sensory disturbances ranging from pronounced detection hypoesthesia ( Z = 6, cold) to pain hyperalgesia ( Z = −8, pressure). Hyperalgesia for various modalities were found in 80% of patients, with pressure hyperalgesia in ∼65%, and cutaneous (mechanical or thermal) hyperalgesia in ∼35% of patients. The paradoxical combination of tactile hypoesthesia and hyperalgesia was seen in ∼25% of patients. Increased pain from repetitive tactile and/or brush stimulation was found in 51%, suggesting a role of altered central nociceptive function in this subpopulation. A high incidence (26%) of pressure hyperalgesia was found in the contralateral groin, with a significant correlation (rho = 0.58, p = 0.002) to the hyperalgesic level on the painful side, again suggesting central nervous mechanisms in PPP. In conclusion, this study shows that a standardized trauma results in heterogeneous combinations of hypo- and hyperalgesia. Z-score evaluation of sensory function identifies subpopulations in PPP, which may be used in selecting surgical and/or pharmacological treatment strategies.

On Directional Change and Anti-Windup Compensation in Multivariable Control Systems

On Directional Change and Anti-Windup Compensation in Multivariable Control SystemsThe paper presents a novel description of the interplay between the windup phenomenon and directional change in controls for multivariable systems (including plants with an uneven number of inputs and outputs), usually omitted in the literature. The paper also proposes a new classification of anti-windup compensators with respect to the method of generating the constrained control signal.

入力飽和を受ける非線形システムに対するインテグラルスライディングモード制御(機械力学,計測,自動制御)

This paper presents a new sliding mode controller based on the integral sliding mode control (ISMC). It is shown that the original ISMC, which was proposed by Utkin et al., together with the so-called proportional reaching law tends to bring about windup phenomena under actuator saturation since the dynamics of the switching function is not asymptotically stable. In order to overcome this problem, the dynamics of the auxiliary variable used in ISMC is modified so that the dynamics of the switching function should be asymptotically stable in a certain region of the state space even during the actuator saturation. Thus, the proposed controller guarantees that the sliding mode can take place under the actuator saturation much sooner than the conventional ISMC. In addition, without the actuator saturation, the proposed controller can be seen as a kind of the proportional reaching law. Numerical simulation and experimental results demonstrate the effectiveness of the proposed controller.

Performance improvement of saturated system using loop shaping approach

AbstractActuator saturation is an important issue when designing practical control systems. It usually induces the windup phenomenon and even yields system instability. In this paper, a two‐stage controller design method is proposed for systems with actuator limitations using the loop shaping approach. In this approach, a pre‐designed controller is first used to stabilize the control system to achieve the desired performance. A loop‐shaping‐based auxiliary controller is then introduced to reduce the windup effect, which might be caused by actuator limitation or functional damage during the mission. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Dynamic anti-windup scheme for feedback linearizable nonlinear control systems with saturating inputs

This paper proposes a dynamic compensation scheme for input-constrained feedback linearizable nonlinear systems to cope with the windup phenomenon. Given a dynamic feedback linearizing controller designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. This dynamic anti-windup is based on the minimization of a reasonable performance index. The proposed strategy is a nonlinear extended version of [Park, J.-K., & Choi, C.-H. (1995). Dynamic compensation method for multivariable control systems with saturating actuators. IEEE Transactions on Automatic Control, 40(9), 1635–1640] with simplified derivation of an optimization solution under relaxed assumptions. The parameter matrices and structure of the solution are explicitly decided by mathematical optimization for infinite horizon without tuning of design parameters unlike previous schemes. During input saturation, the role of the anti-windup scheme with the proposed dynamic feedback compensator is to maintain the controller states to be exactly the same as those without input saturation. The local asymptotic stability and the total stability of the resulting systems are proved. The usefulness of the proposed design method is illustrated by comparative simulations for a constrained control system.

A Role For Wind-Up in Trigeminal Sensory Processing: Intensity Coding of Nociceptive Stimuli in the Rat

Wind-up is a progressive, frequency-dependent increase in the excitability of trigeminal and spinal dorsal horn wide dynamic range (WDR) nociceptive neurons evoked by repetitive stimulation of primary afferent nociceptive C-fibres. The correlate of wind-up in humans is temporal summation, which is an increase in pain perception to repetitive constant nociceptive stimulation. Although wind-up is widely used as a tool for studying the processing of nociceptive information, including central sensitization, its actual role is still unknown. Here, we recorded from trigeminal WDR neurons using in vivo electrophysiological techniques in rats and assessed the wind-up phenomenon in response to stimuli of different intensities and frequencies. First, we found that the amplitude of C-evoked responses of WDR neurons to repetitive stimulation increased progressively to reach a peak, then consistently showed a stable or slightly decreasing plateau phase. Only the first phase of this time course fitted in with the wind-up description. Therefore, to assess wind-up, we measured a limited number of initial responses. Second, we showed that wind-up, i.e. the slope of the frequency-dependent increase in the response to C-fibre stimulation, was linearly correlated to the stimulus intensity. Intensities of brief C-fibre inputs were thus coded into frequencies of action potentials by second-order neurons through frequency-dependent potentiation of the evoked responses. Third, wind-up also occurred at stimulation intensities below the threshold for C-evoked responses in WDR neurons, suggesting that wind-up can amplify subthreshold C-fibre inputs to WDR neurons. This might account for the observation that sparse, subliminal, neuronal activity in nociceptors can become painful via central integration of neural responses. Altogether, the present results show that wind-up can provide trigeminal WDR neurons with the capability to encode the intensity of short-duration orofacial nociceptive stimuli and to detect subthreshold nociceptive input. Thus, not only may wind-up play a physiological role in trigeminal sensory processing, but its enhancement may also underlie the pathophysiology of chronic orofacial pain conditions.

(136) A comparison of two wind-up methodologies in patients with osteoarthritis vs normal controls

This study explored the effectiveness of producing the thermal wind-up phenomenon comparing two methodologies. Participants included 37 subjects with osteoarthritis of the knee and 35 controls matched as to age, sex, and race. The study was conducted during a single session which included psychometric testing, history and physical, and psychophysical testing (quantitative sensory testing [QST] and wind-up). All testing was conducted at three sites; the medial and lateral joint lines of the most painful knee, and the elbow contralateral to the most painful knee. Participants received one of two wind-up procedures: windup temperatures determined by averages of heat pain threshold temperatures obtained during QST (range = 44.0° – 49.7° Celsius) or at a single super-threshold temperature of 49°. All participants received three trains of 5 heat ‘taps’ at each location. The three trains were averaged and slopes were subsequently calculated for each location. Slopes were used to represent the magnitude of the windup effect. A 2x2x3 (participants x windup methodology x location) mixed-model repeated measures ANOVA was used to analyze the data. Location served as the within subjects factor and participants and methodology were the between subjects factors. Windup did not differ significantly by location (F = 2.850, p =.075). OA participants produced significantly greater mean windup slopes than did the control participants (F = 10.340, p =.002) and the super-threshold windup procedure yielded significantly greater mean slopes compared to the pain threshold windup procedure (F = 9.189, p = .004). There was a significant participant by windup methodology effect (F = 6.202, p = .015). There was a greater magnitude of windup in the OA participants, especially when using the super-threshold temperature. The implications of these finding to pain research will be discussed. This study was supported by a grant from GlaxoSmithKline.

Modified Anti-Windup PI 제어기와 Braking Mode를 이용한 SRM의 속도 제어

본 논문은 부하에 대한 빠른 응답 특성을 보이는 새로운 SRM 구동 토폴로지를 제안하였다. PI 제어기 출력이 포화될 때 windup 현상이 나타나고 그 결과로 성능이 저하된다. 따라서 전동기의 가변속 제어 성능을 위해 가속 시에는 개선된 Anti-Windup PI 제어기만을 사용하고 감소 시에는 추가로 부하의 특성을 고려하여 braking 동작을 사용하였다. 시뮬레이션 및 실험 결과는 속도 성능면에서 제안된 방식이 종래의 다른 제어 방식에 비해 우수함을 보여 준다.

Constitutive Cyclooxygenase-2 Is Involved in Central Nociceptive Processes in Humans

Prostaglandins play a major role in inflammation and pain. They are synthesized by the two cyclooxygenase (COX) isoforms: COX-1, which is expressed constitutively in many cell types, and COX-2, which is induced at the site of inflammation. However, unlike peripheral tissues, COX-2 is expressed constitutively in the central nervous system and may play a role in nociceptive processes. The current study aimed to investigate the role of constitutive COX-2 in the spinal transmission of nociceptive signals in humans. The authors used 12 healthy volunteers to compare the effects of the specific COX-2 inhibitor sodium parecoxib (1 mg/kg) or placebo, administered intravenously in a double-blind and crossover fashion, on the electrophysiologic recordings of the nociceptive flexion (RIII) reflex. The RIII reflex is an objective psychophysiologic index of the spinal transmission of nociceptive signals and was recorded from the biceps femoris after electrical stimulation of the sural nerve. Two experiments, 7 days apart, were conducted in each volunteer. On each experimental day, the effects of parecoxib or placebo were tested on (1) the RIII reflex threshold, (2) the stimulus-response curves of the reflex up to the tolerance threshold (frequency of stimulation: 0.1 Hz), and (3) the progressive increase of the reflex and pain sensations (i.e., "windup" phenomenon) induced by a series of 15 stimulations at a frequency of 1 Hz (intensity 20% above RIII threshold). Parecoxib, but not placebo, significantly reduced the slope of the stimulus-response curve, suggesting a reduction in the gain of the spinal transmission of nociceptive signals. By contrast, the windup phenomenon was not significantly altered after administration of parecoxib or placebo. This study shows that constitutive COX-2 modulates spinal nociceptive processes and that the antiinflammatory and antinociceptive actions of COX-2 inhibitors are not necessarily related.

The antinociceptive effect of systemic gabapentin is related to the type of sensitization-induced hyperalgesia

BackgroundGabapentin is a structural analogue of gamma-aminobutyric acid with strong anticonvulsant and analgesic activities. Important discrepancies are observed on the effectiveness and potency of gabapentin in acute nociception and sensitization due to inflammation and neuropathy. There is also some controversy in the literature on whether gabapentin is only active in central areas of the nervous system or is also effective in the periphery. This is probably due to the use of different experimental models, routes of administration and types of sensitization. The aim of the present study was to investigate the influence of the spinal cord sensitization on the antinociceptive activity of gabapentin in the absence and in the presence of monoarthritis and neuropathy, using the same experimental protocol of stimulation and the same technique of evaluation of antinociception.MethodsWe studied the antinociceptive effects of iv. gabapentin in spinal cord neuronal responses from adult male Wistar rats using the recording of single motor units technique. Gabapentin was studied in the absence and in the presence of sensitization due to arthritis and neuropathy, combining noxious mechanical and repetitive electrical stimulation (wind-up).ResultsThe experiments showed that gabapentin was effective in arthritic (max. effect of 41 ± 15% of control and ID50 of 1,145 ± 14 micromol/kg; 200 mg/kg) and neuropathic rats (max. effect of 20 ± 8% of control and ID50 of 414 ± 27 micromol/kg; 73 mg/kg) but not in normal rats. The phenomenon of wind-up was dose-dependently reduced by gabapentin in neuropathy but not in normal and arthritic rats.ConclusionWe conclude that systemic gabapentin is a potent and effective antinociceptive agent in sensitization caused by arthritis and neuropathy but not in the absence of sensitization. The potency of the antinociception was directly related to the intensity of sensitization in the present experimental conditions. The effect is mainly located in central areas in neuropathy since wind-up was significantly reduced, however, an action on inflammation-induced sensitized nociceptors is also likely.

Digital Anti-Windup PI Controllers for Variable-Speed Motor Drives Using FPGA and Stochastic Theory

The windup phenomenon occurs when the output of a proportional-integral (PI) controller is saturated, which results in performance degradation or even instability. In this letter, three new anti-windup algorithms are proposed for a digital PI-speed controller to improve the control performance of variable-speed motor drives. These designs are implemented in a field programmable gate array (FPGA) device and stochastic theory is employed to enhance the computational capability of FPGA. Compared with conventional digital anti-windup techniques, the proposed methods offer several advantages: large dynamic range, easy digital design, minimal scaling of digital circuits, reconfigurability, and direct hardware implementation, while maintaining high control performance. The developed controllers are applied to the speed control of a field-oriented controlled induction motor drive using a hardware-in-the-loop test bench. The improved speed responses confirm the effectiveness of the proposed anti-windup schemes

High-performance speed servo system considering Voltage saturation of a vector-controlled induction motor

Generally, a speed servo system of a vector-controlled induction motor has limitations of motor voltage and current. When the speed servo system has a large torque reference, the output of its PI controller is often saturated. In this case, the conventional servo system stops the integral calculation of its PI controller. However, this system often has a large overshoot and/or an oscillated response caused by both a windup phenomenon and phase error on the vector control condition. This paper proposes a new speed servo system considering voltage saturation for the vector-controlled induction motor. The proposed control method compensates the phase error on vector control condition quickly, and always keeps the vector control condition. The experimental results show that the proposed system well regulates the motor speed and the secondary magnetic flux for a large torque reference without a windup phenomenon.