WINDUP PREVENTION WHEN USING DAVISON’S APPROACH TO DISTURBANCE REJECTION

摘要

Presented is a two step windup prevention scheme with proven stability for observer based compensators possibly containing signal models for disturbance rejection. If the undesired effects of input saturation can solely be attributed to badly damped or unstable compensator dynamics (controller windup), they are prevented by simple structural measures not increasing the compensator order. Only if the destabilizing influence of input saturation is attributable to plant windup, additional dynamic elements are added to the controller.