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DYNAMIC ANTI-INTEGRATOR-WINDUP CONTROLLER DESIGN FOR LINEAR SYSTEMS
Mitsuru Kanamori* and Masayoshi Tomizuka†
* Department of Control Engineering, Maizuru National College of Technology, 234
Aza Shiroya, Maizuru, Kyoto 625-8511, JAPAN. Email: kanamori@maizuru-ct.ac.jp
† Department of Mechanical Engineering, University of California at Berkeley, 5100B
Etcheverry Hall, Berkeley, CA 94720-1740, U.S.A. Email: tomizuka@me.berkeley.edu
This paper is concerned with the design of dynamic anti-integrator-windup controllers for critically stable linear systems. The constant gain for anti-windup in the conventional approach is extended to a transfer function. It is also shown that the proposed compensator design is an extension of the Kothare’s linear conditioning for static anti-windup compensator. The effectiveness of the proposed design is demonstrated by numerical simulations of a one-link flexible arm.
Keywords: Input constraints, Dynamic controller, Anti-windup compensator, Lyapunov design, Flexible robot arm
Session slot T-Th-M07: Linearization of Nonlinear Systems/Area code 2c : Non-linear Systems
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