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

摘要

Proposed here is a new approach for synthesizing an internalnmodel control (IMC) anti-windup (AW) compensator for a stablenplant subject to input saturation. Built on the conventional IMCnAW scheme, which preserves the stability robustness of the uncon-nstrained system, the proposed linear AW compensator improvesnthe performance of the constrained system. The analysis con-nducted through the loop decomposition of the AW system clearlynreveals the impacts of the AW compensator on the closed-loopnstability and performance. Loop shaping techniques are executednto design the AW compensator. The effectiveness of this approachnis demonstrated using a numerical example.