By Peter Hippe
Actuator saturation is without doubt one of the such a lot widespread nonlinearity encountered up to the mark purposes. enter saturation results in controller windup, detachable via structural amendment in the course of compensator consciousness and plant windup which demands extra dynamics. This booklet provides strategies to the windup prevention challenge for reliable and risky single-input-single-output and multiple-input-multiple-output (MIMO) platforms.
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Extra info for Windup in Control: Its Effects and Their Prevention (Advances in Industrial Control)
P < n), a (reduced-order) state observer is required. 12) ym (t) = = 2 2 (t) Cm ym 2 The vector ym (t) contains the κ measurements that are directly used in the computation of the state estimate x ˆ(t). 14) 2 holds. 15) the relation holds. 16)). 5 shows a block diagram of the closed loop. The observer was designed for the linear system. Hence it is evident that input saturation will cause observation errors, because the actual input signal us (t) = satu0 (u(t)) to the linear system diﬀers from the controller output u(t) for |u(t)| > u0 .
Thus one can split the restricted amplitude range of the input signal into one part necessary for the rejection of the disturbances and a remaining part used for tracking. Consequently, input saturation can be prevented completely, so that the stabilizing feedback control is always active. In a slightly modiﬁed form the new approach presented in Chapter 5 also applies to stable systems, where input saturation does not have to be prevented under all circumstances. In MIMO systems the controller and the (oscillatory) plant windup can be prevented as in SISO systems.
4 Plant Windup in Unstable Systems 15 Above it was implicitly assumed that reference signals are the only external input. In practice, however, disturbances usually cannot be neglected, so that a suﬃcient amplitude reserve is required for disturbance rejection. When the input signal is saturated the stabilizing feedback is interrupted, so that exponentially unstable modes can develop freely during this period. Since the form of the disturbance signals is unknown in general, there is always the danger of an unstable behaviour of the closed loop if disturbances act during actuator saturation.
Windup in Control: Its Effects and Their Prevention (Advances in Industrial Control) by Peter Hippe