Affiliation:
1. Universität Erlangen-Nürnberg , Lehrstuhl für Regelungstechnik , Erlangen , Deutschland
Abstract
Abstract
Windup effects can be subdivided into controller windup and plant windup. Controller windup can be prevented by stabilizing the compensator during saturation and plant windup by an additional dynamic element. When using a compensating design, i. e., the zeros and poles of the plant are compensated by the poles and zeros of the controller, plant windup does not occur. The compensating control is parametrized by one parameter allowing nearly arbitrary disturbance attenuation. This type of control is restricted to minimum-phase systems. But it has a number of advantages. It simplifies the SISO and especially the MIMO design of compensators with integral action considerably, it has good robustness properties and it allows a diagonal decoupling of the reference behavior for arbitrary MIMO system. Two examples demonstrate the results achievable.
Subject
Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering
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