Repetitive Control System Under Actuator Saturation and Windup Prevention

2009 ◽  
Vol 131 (4) ◽  
Author(s):  
D. Sbarbaro ◽  
M. Tomizuka ◽  
B. León de la Barra
Keyword(s):  
Steady State ◽  
Closed Loop ◽  
Actuator Saturation ◽  
Steady State Solution ◽  
State Solution ◽  
Valuable Insight ◽  
State Response ◽  
Saturating Actuators ◽  
Steady State Responses ◽  
Repetitive Controller

This work provides an analysis of the steady state response of a prototype repetitive controller applied to a class of nonlinear systems, i.e., systems with actuator saturation. First, it is shown that the steady state solution of the closed loop nonlinear system can be obtained by an iterative Picard process, which establishes the periodic nature of the steady state solution. Second, the conditions for obtaining bounded steady state responses are analyzed for a saturating nonlinearity commonly found in mechatronic applications. Valuable insight is provided into the effects of input signals and saturating actuators on the closed loop performance of a prototype repetitive controller. In order to improve the transient closed loop response, a simple antiwindup strategy tailored to repetitive controllers is proposed.

A SIMPLIFIED CIRCUIT OF THE SEISMIC ELECTRIC METHOD AND ITS STEADY‐STATE SOLUTION

Geophysics ◽  
1936 ◽  
Vol 1 (3) ◽  
pp. 336-339 ◽  
Author(s):  
M. M. Slotnick
Keyword(s):  
Steady State ◽  
Steady State Solution ◽  
State Solution ◽  
Successive Approximations ◽  
Method Of Successive Approximations ◽  
Steady State Response ◽  
State Response ◽  
In Series ◽  
The One ◽  
Electric Effect

The Seismic Electric Effect gives rise to the problem of finding the steady state response of a circuit consisting of an inductance and a response of a circuit consisting of an inductance and a resistance of the form R+A cos cot (R>A) in series with a D.C. input. In this paper a solution is given, other than the one usually obtained by the method of successive approximations.

The Timoshenko Beam on an Elastic Foundation and Subject to a Moving Step Load, Part 1: Steady-State Response

1996 ◽  
Vol 118 (3) ◽  
pp. 277-284 ◽  
Author(s):  
S. F. Felszeghy
Keyword(s):  
Steady State ◽  
Boundary Conditions ◽  
Elastic Foundation ◽  
Timoshenko Beam ◽  
Equations Of Motion ◽  
Steady State Solution ◽  
State Solution ◽  
Actual Problem ◽  
State Response ◽  
Particular Solution

The response of a simply supported semi-infinite Timoshenko beam on an elastic foundation to a moving step load is determined. The response is found from summing the solutions to two mutually complementary sets of governing equations. The first solution is a particular solution to the forced equations of motion. The second solution is a solution to a set of homogeneous equations of motion and nonhomogeneous boundary conditions so formulated as to satisfy the initial and boundary conditions of the actual problem when the two solutions are summed. As a particular solution, the steady-state solution is used which is the motion that would appear stationary to an observer traveling with the load. Steady-state solutions are developed in Part 1 of this article for all load speeds greater than zero. It is shown that a steady-state solution which is identically zero ahead of the load front exists at every load speed, in the sense of generalized functions, including the critical speeds when the load travels at the minimum phase velocity of propagating harmonic waves and the sonic speeds. The solution to the homogeneous equations of motion is developed in Part 2 where the two solutions in question are summed and numerical results are presented as well.

Closed-Form, Steady-State Solution for the Unbalance Response of a Rigid Rotor in Squeeze Film Damper

1983 ◽  
Vol 105 (3) ◽  
pp. 551-556 ◽  
Author(s):  
D. L. Taylor ◽  
B. R. K. Kumar
Keyword(s):  
Steady State ◽  
Closed Form ◽  
Closed Form Solution ◽  
Steady State Solution ◽  
State Solution ◽  
Squeeze Film ◽  
Steady State Response ◽  
Rigid Rotor ◽  
Squeeze Film Damper ◽  
State Response

This paper considers the steady-state response due to unbalance of a planar rigid rotor carried in a short squeeze film damper with linear centering spring. The damper fluid forces are determined from the short bearing, cavitated (π film) solution of Reynold’s equation. Assuming a circular centered orbit, a change of coordinates yields equations whose steady-state response are constant eccentricity and phase angle. Focusing on this steady-state solution results in reducing the problem to solutions of two simultaneous algebraic equations. A method for finding the closed-form solution is presented. The system is nondimensionalized, yielding response in terms of an unbalance parameter, a damper parameter, and a speed parameter. Several families of eccentricity-speed curves are presented. Additionally, transmissibility and power consumption solutions are present.

The Steady-State Response of the Double Bilinear Hysteretic Model

1965 ◽  
Vol 32 (4) ◽  
pp. 921-925 ◽  
Author(s):  
W. D. Iwan
Keyword(s):  
Steady State ◽  
Nonlinear Systems ◽  
Steady State Solution ◽  
Degree Of Freedom ◽  
State Solution ◽  
Steady State Response ◽  
Hysteretic Model ◽  
Jump Phenomenon ◽  
State Response ◽  
The Stability

The steady-state response of a one-degree-of-freedom double bilinear hysteretic model is investigated and it is shown that this model gives rise to the jump phenomenon which is associated with certain nonlinear systems. The stability of the steady-state solution is discussed and it is shown that the model predicts an unbounded resonance for finite excitation.

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