ANTI-WINDUP CONTROLLER DESIGN FOR SYSTEMS WITH INPUT SATURATION

摘要

In this paper, we propose a dynamic output feedback controller design technique for uncertain linear systems with input saturation. Unlike the classical two-step design method, anti-windup is considered in the controller design framework at the beginning. In this framework, the input saturation level is expressed by saturation indicator parameter, which is the ratio of the control output and the saturated plant input. Since the system is described in terms of saturation indicator parameters, it can be considered linear-parameter varying(LPV) system. Therefore, we can derive a stability condition for the LPV system. The sufficient condition is given by the finite number of Linear Matrix In-equalities(LMIs) that can be solved efficiently by convex optimization algorithm. The proposed technique is applied to the Ball and Beam system. Experimental results show the effectiveness of the proposed method in the presence of input saturation.