An Internal Model Control Anti-Windup Scheme With Improved Performance for Input Saturation Via Loop Shaping

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Wei Wu ◽  
Suhada Jayasuriya
Keyword(s):  
Internal Model ◽  
Input Saturation ◽  
Internal Model Control ◽  
Constrained System ◽  
Stability Robustness ◽  
Loop Shaping ◽  
Model Control ◽  
Improved Performance ◽  
And Performance ◽  
The Stability

Proposed here is a new approach for synthesizing an internal model control (IMC) anti-windup (AW) compensator for a stable plant subject to input saturation. Built on the conventional IMC AW scheme, which preserves the stability robustness of the unconstrained system, the proposed linear AW compensator improves the performance of the constrained system. The analysis conducted through the loop decomposition of the AW system clearly reveals the impacts of the AW compensator on the closed-loop stability and performance. Loop shaping techniques are executed to design the AW compensator. The effectiveness of this approach is demonstrated using a numerical example.

An Internal Model Control Based Static Anti-Windup Scheme With Improved Performance

2010 ◽  
Author(s):  
Wei Wu
Keyword(s):  
Internal Model ◽  
Input Saturation ◽  
Internal Model Control ◽  
Controller Synthesis ◽  
Linear Matrix ◽  
Constrained System ◽  
Stability Robustness ◽  
Model Control ◽  
Improved Performance ◽  
The Stability

This paper considers the synthesis of static anti-windup (AW) compensation within the internal model control (IMC) AW framework for stable plants subject to input saturation. Built on the conventional IMC AW scheme which preserves the stability and the stability robustness of the unconstrained system, the proposed static AW compensation improves the constrained system performance. L2 gain performance of the constrained system is considered for the static AW controller synthesis, resulting in a linear matrix inqualitiy. The effectiveness of this AW scheme is demonstrated by comparison with two AW methods from the literature through using two numerical examples.

Robust and Effective PID Controller Identification for Delay Dominant Systems

2014 ◽  
Vol 625 ◽  
pp. 478-481
Author(s):  
Lemma Dendena Tufa ◽  
Marappagounder Ramasamy
Keyword(s):  
Time Delay ◽  
Time Constant ◽  
Pid Controller ◽  
Internal Model ◽  
Control Structure ◽  
Internal Model Control ◽  
Controller Tuning ◽  
Model Control ◽  
Pid Controller Tuning ◽  
Improved Performance

A novel PID controller identification method based on internal model control structure is proposed. The proposed method avoids the necessity of approximating the time delay for designing the PID controller. It results in a robust and effective PID controller tuning. The method is effective for both time constant and time delay dominant systems, with much improved performance for the latter case.

Two fuzzy internal model control methods for nonlinear uncertain systems

2017 ◽  
Vol 10 (2) ◽  
pp. 223-240 ◽  
Author(s):  
Amira Aydi ◽  
Mohamed Djemel ◽  
Mohamed Chtourou
Keyword(s):  
Internal Model ◽  
Fuzzy Model ◽  
Internal Model Control ◽  
Local Model ◽  
Parametric Uncertainties ◽  
Local Models ◽  
Content Type ◽  
Model Control ◽  
The Stability ◽  
Takagi Sugeno

Purpose The purpose of this paper is to use the internal model control to deal with nonlinear stable systems affected by parametric uncertainties. Design/methodology/approach The dynamics of a considered system are approximated by a Takagi-Sugeno fuzzy model. The parameters of the fuzzy rules premises are determined manually. However, the parameters of the fuzzy rules conclusions are updated using the descent gradient method under inequality constraints in order to ensure the stability of each local model. In fact, without making these constraints the training algorithm can procure one or several unstable local models even if the desired accuracy in the training step is achieved. The considered robust control approach is the internal model. It is synthesized based on the Takagi-Sugeno fuzzy model. Two control strategies are considered. The first one is based on the parallel distribution compensation principle. It consists in associating an internal model control for each local model. However, for the second strategy, the control law is computed based on the global Takagi-Sugeno fuzzy model. Findings According to the simulation results, the stability of all local models is obtained and the proposed fuzzy internal model control approaches ensure robustness against parametric uncertainties. Originality/value This paper introduces a method for the identification of fuzzy model parameters ensuring the stability of all local models. Using the resulting fuzzy model, two fuzzy internal model control designs are presented.

An internal model control-cascade Proportion-Integration-Differentiation method for manipulation of nano-quad-rotors

2019 ◽  
Vol 233 (8) ◽  
pp. 2948-2955 ◽  
Author(s):  
Yuan Wang ◽  
Xiangming Zheng ◽  
Hongda Li ◽  
Xiaoran Li
Keyword(s):  
Trajectory Tracking ◽  
Internal Model ◽  
Control Method ◽  
Parameter Tuning ◽  
Internal Model Control ◽  
Model Uncertainties ◽  
Model Control ◽  
Tuning Process ◽  
The Stability ◽  
Significant Superiority

Nowadays, manipulation of quad-rotors faces complexity in controller parameter tuning process and system instability under uncertainties. Internal model control is featured with less controller parameters, simpler tuning process than conventional methods, good robustness and perfect capability in rejection of uncertainties. All its merits can be applied in the field of nano-quad-rotor control since its internal model is easy to be obtained and the suffered uncertainties, especially persistent ones such as model uncertainties and winds, can be rejected by the algorithm effectively. In this paper, an internal model control cascade Proportion-Integration-Differentiation (PID) method is developed to enhance the robustness and improve the capability of uncertainty rejection of nano-quad-rotors flying under persistent uncertainties. The system can be stabilized in a very easy way with all controller parameters tuned within 0 to 1. Comparison with internal model control method was carried out numerically; the results show that, in dealing with persistent uncertainties, the internal model control cascade PID-based method presents significant superiority in the maintenance of both the accuracy of trajectory tracking and the stability of attitude.

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