Dynamic Anti-Integrator-Windup Controller Design for Linear Systems With Actuator Saturation

2006 ◽  
Vol 129 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Mitsuru Kanamori ◽  
Masayoshi Tomizuka
Keyword(s):  
Linear Systems ◽  
Internal Model ◽  
Controller Design ◽  
Actuator Saturation ◽  
Control Input ◽  
Prime Factorization ◽  
Flexible Arm ◽  
Gain Term ◽  
The One ◽  
Stable Linear

The present paper is concerned with the design of dynamic anti-integrator-windup controllers for critically stable linear systems with a single pole at the origin. The constant gain term in the conventional anti-windup controller is extended to have dynamics represented by a transfer function. The proposed dynamic anti-windup compensator is similar to the one based on co-prime factorization of the plant. The overall controller includes an internal model for constant signals and achieves regulation for constant disturbance and reference inputs as long as the asymptotic control input stays within the saturation limits. The effectiveness of the proposed method is demonstrated on a one-link flexible arm through simulations and experiments.

Robust Control of Automotive Active Seat-Suspension System Subject to Actuator Saturation

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Zhou Gu ◽  
Shumin Fei ◽  
Yaqin Zhao ◽  
Engang Tian
Keyword(s):  
Controller Design ◽  
Actuator Saturation ◽  
Input Saturation ◽  
Output Feedback Control ◽  
Suspension System ◽  
Linear Matrix ◽  
Control Input ◽  
State Variables ◽  
Sampled Data ◽  
Seat Suspension

This paper deals with the problem of robust sampled-data control for an automotive seat-suspension system subject to control input saturation. By using the nature of the sector nonlinearity, a sampled-data based control input saturation in the control design is studied. A passenger dynamic behavior is considered in the modeling of seat-suspension system, which makes the model more precisely and brings about uncertainties as well in the developed model. Robust output feedback control strategy is adopted since some state variables, such as, body acceleration and body deflection, are unavailable. The desired controller can be achieved by solving the corresponding linear matrix inequalities (LMIs). Finally, a design example has been given to demonstrate the effectiveness and advantages of the proposed controller design approach.

Vibration Reduction of a Vision-Based Controlled Flexible Arm: Theoretical and Experimental Aspects

2005 ◽  
Author(s):  
Shuxin Wang ◽  
Bingquan Wen ◽  
Hongbo Yu ◽  
Jintian Yun
Keyword(s):  
Dynamic Models ◽  
Controller Design ◽  
Model Simulation ◽  
Sampling Rate ◽  
Experimental Results ◽  
Control Input ◽  
Actual System ◽  
Flexible Arm ◽  
Two Factors ◽  
Measured Position

For vision-based controlled flexible arm, the accuracy of the finite dimensional dynamic models and stability become very important for controller design. This paper addresses the issue of selecting the shape function and mode in developing finite dynamic models, and designs suitable controller for a flexible arm with vision-based control. Input of the controller is the measured position error of the beam tip, which can be directly obtained by camera. In spite of the observed differences between actual system and simulated system, experimental results are good enough to validate the arm model. Simulation and experimental results show that the PID controller is acceptable. It is also stressed that two factors, the camera sampling rate and a dead band in the velocity command, will influence the properties of the control system for vision-based controlled flexible arm.

Coprime Factorizations in Stable Linear Systems

1988 ◽  
Author(s):  
Charles A. Desoer ◽  
A. Nazli Gundes ◽  
M. Guntekin Kabuli
Keyword(s):  
Linear Systems ◽  
Coprime Factorizations ◽  
Stable Linear

Regional stabilization and H∞ congestion control with input saturation

2021 ◽  
pp. 014233122199273
Author(s):  
Sadek Belamfedel Alaoui ◽  
El Houssaine Tissir ◽  
Noreddine Chaibi ◽  
Fatima El Haoussi
Keyword(s):  
Linear Systems ◽  
Controller Design ◽  
Input Saturation ◽  
Domain Of Attraction ◽  
Queue Management ◽  
Variable Delay ◽  
Challenging Problem ◽  
Regional Stabilization ◽  
Small Gain ◽  
Improved Performance

Designing robust active queue management subjected to network imperfections is a challenging problem. Motivated by this topic, we addressed the problem of controller design for linear systems with variable delay and unsymmetrical constraints by the scaled small gain theorem. We designed two mechanisms: robust enhanced proportional derivative; and robust enhanced proportional derivative subjected to input saturation. Discussion of their practical implementations along with extensive comparisons by MATLAB and NS3 illustrate the improved performance and the enlargement of the domain of attraction regarding some literature results.

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