Input saturation estimation for servo drives with state space control

The MRAW Framework

Modern Anti-windup Synthesis ◽

10.23943/princeton/9780691147321.003.0006 ◽

2011 ◽

Author(s):

Luca Zaccarian ◽

Andrew R. Teel

Keyword(s):

State Space ◽

Degrees Of Freedom ◽

Closed Loop ◽

Transfer Functions ◽

Input Saturation ◽

Control Design ◽

Synthesis Problem ◽

Ideal Case ◽

Plant Model ◽

Linear Controller

This chapter introduces the model recovery anti-windup (MRAW) framework. The MRAW structure recovers the unconstrained plant model as seen from the perspective of the unconstrained controller. This feature prevents the unconstrained controller from misbehaving in the constrained closed loop with anti-windup augmentation, and gives the closed loop some information about how it would be performing in the ideal case without constraints. The MRAW structure reduces the anti-windup synthesis problem to a problem of direct control design for input saturation. This means that the degrees of freedom can be constructed ignoring the existence of the predesigned linear controller. The chapter describes the MRAW structure through block diagrams, transfer functions, and state–space representations.

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Modern Anti-windup Synthesis

10.23943/princeton/9780691147321.001.0001 ◽

2011 ◽

Cited By ~ 1

Author(s):

Luca Zaccarian ◽

Andrew R. Teel

Keyword(s):

Graduate Students ◽

State Space ◽

Input Saturation ◽

Numerical Algorithms ◽

Modern Method ◽

Linear Matrix ◽

Matrix Inequalities ◽

State Space Approach ◽

Siso Systems ◽

Space Approach

This book provides a wide variety of state-space-based numerical algorithms for the synthesis of feedback algorithms for linear systems with input saturation. Specifically, it addresses and solves the anti-windup problem, presenting the objectives and terminology of the problem, the mathematical tools behind anti-windup algorithms, and more than twenty algorithms for anti-windup synthesis, illustrated with examples. The book's modern method—combining a state-space approach with algorithms generated by solving linear matrix inequalities—treats MIMO and SISO systems with equal ease. The book, aimed at control engineers as well as graduate students, ranges from very simple anti-windup construction to sophisticated anti-windup algorithms for nonlinear systems.

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