Design and Stability Issues for Systems with Actuator Saturation

摘要

Actuator saturation is an important practical control problem, as it can lead to drastic deterioration in the performance of the control system, and in the worse case, instability. To tackle this problem, anti-windup schemes have been devised. In this paper, compensation for actuator saturation based on a general actuator saturation compensator is discussed, which has advantages over existing schemes in that compensator design procedures can be developed, and stability of the compensated system can be readily analyzed. As most of the existing schemes can be shown to be special cases of the general saturation compensator, the performance of these schemes and the stability of systems using these schemes can now be studied. The noise attenuation property of actuator saturation compensation schemes is also discussed, and extension to systems with multiple nonlinearities is proposed. Examples are presented to illustrate the results presented in this paper.