Windup prevention for MIMO systems in the frequency domain
Wybrane pełne teksty z tego czasopisma
Input saturation can have an undesired influence on the transients of the closed loop system and it can even lead to an unstable behavior. Controller windup is caused by badly damped or unstable modes in the compensator and controller windup is due to fast dynamics of the closed loop system. In a two-step approach one can first prevent controller windup by the so-called observer technique and if, in addition, there exists the danger of plant windup one adds an additional dynamic element to prevent it. There also exists a one-step approach that prevents controller and plant windup at the same time. This paper shows how both approaches to windup prevention can be designed directly in the frequency domain without recourse to time domain arguments. A simple example demonstrates the windup effects and their prevention.
Bibliogr. 22 poz., rys.
-  K. J. Astrom and B. Wittenmark: Computer controlled systems: Theory and design. Prentice Hall, Englewood Cliffs, N.J. 1997.
-  D. S. Bernstein and A. N. Michel: A chronological bibliography on saturating actuators. Int. J. Robust Nonlinear Control, 5 (1995), 375-380.
-  C. Gokcek, P. T. Kabamba and S. M. Meerkov: An LQR/LQG theory for systems with saturating actuators. IEEE Trans, on Automatic Control, 46 (2001), 1529-1542.
-  R. Hanus, M. Kinnaert and J. L. Henrotte: Conditioning technique, a generał antiwindup and bumpless transfer method. Automatica, 23 (1987), 729-739.
-  P. HIPPE: Parameterization of full-order compensator in the frequency domain. Int. J. of Control, 48 (1988), 1583-1603.
-  P. HIPPE: Design of MIMO compensators for systems with unmeasurable disturbances: the polynomial approach. Automatica, 28 (1992), 1003-1009.
-  P. HIPPE: A solution to the problem of directionality for stable and unstable systems. 6th IFAC-Symp. on Nonlinear Control Systems, Stuttgart, Germany, (2004).
-  P. HIPPE: Windup in control - its effects and their prevention. Springer, Berlin Heidelberg New York London. 2006.
-  P. HIPPE and J. DEUTSCHER: Design of observer-based compensators - from the time to the freąuency domain. Springer, Berlin Heidelberg New York London. 2009.
-  P. HIPPE and Ch. Wurmthaler: Systematic closed-loop design in the presence of input saturation. Automatica, 35, (1999), 689-695.
-  J. JEZEK and V. KUCERA: Efficient algorithm for matrix spectral factorization. Automatica, 21, (1985), 663-669.
-  T. KAILATH: Linear systems. Prentice Hall, Englewood Cliffs, N.J. 1980.
-  T. Kailath, A. Sayed and B. Hassibi: Linear estimation. Prentice Hall, Upper Saddle River, N.J. 2000.
-  H. K. Khalil: Nonlinear systems. Prentice Hall, Englewood Cliffs, N.J. 2002.
-  M. V. Kothare, P J. Campo, M. Morari and C. N. Nett: A unified frame-workforthe study of anti-windup designs. Automatica, 30, (1994), 1869-1883.
-  Y. Peng, D. Vrancic, R. Hanus and S. S. R. Weller: Anti-windup designs for multivariabłe controllers. Automatica, 34, (1998), 1559-1565.
-  PolyX, Ltd. The Polynomial Toolbox for Matlab. Prague, Czech Republic. Version 2.5 released in 2000. see www.polyx . cz
-  S. Ronnback, K. S. Walgama and J. Sternby: An extension to the generalized antiwindup compensator. Proc. 13th IMACS World Congress on Scientific Computation, Dublin, Ireland, (1991).
-  A. Saberi, Z. Lin and A. R. Teel: Control of linear systems with saturating actuators. IEEE Trans, on Automatic Control, 41 (1996), 368-378.
-  A. R. Teel and N. Kapoor: The L2 anti-windup problem: its definition and solution. Proc. 4th European Control Conf., ECC'97, Brussels, Belgium, (1997).
-  K. S. WALGAMA and J. STERNBY: Conditioning technique for multiinput multi-output processes with input saturation. IEE Proc. Control Theory and Applications, 140, (1993), 231-241.
-  W. A. WOLOVICH: Linear multivariable systems. Springer, Heidelberg New York London.1974.