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Modern Anti-windup SynthesisControl Augmentation for Actuator Saturation$
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Luca Zaccarian and Andrew R. Teel

Print publication date: 2011

Print ISBN-13: 9780691147321

Published to Princeton Scholarship Online: October 2017

DOI: 10.23943/princeton/9780691147321.001.0001

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The Windup Phenomenon and Anti-windup Illustrated

The Windup Phenomenon and Anti-windup Illustrated

(p.3) Chapter One The Windup Phenomenon and Anti-windup Illustrated
Modern Anti-windup Synthesis

Luca Zaccarian

Andrew R. Teel

Princeton University Press

This chapter uses examples where windup occurs to motivate anti-windup synthesis. In particular, it discusses a SISO academic example, a MIMO academic example, the longitudinal dynamics of an F8 aircraft, a servo-positioning system, the damped mass-spring system, the experimental spring-gantry system, a robot manipulator, and a disturbance rejection problem. The examples illustrate the windup phenomenon, which may arise due to input saturation in a feedback loop, and the capabilities of anti-windup synthesis in mitigating the windup phenomenon. They show that windup can manifest itself as a sluggish response, a highly oscillatory response, or a diverging response. In each example, alternatives to anti-windup synthesis include investing in actuators with more capabilities, or redesigning the controller from scratch to account for input saturation directly. These strategies should be considered when the control system's actuators are continuously trying to act beyond their limits.

Keywords:   windup, anti-windup, SISO, MIMO, F8 aircraft, servo-positioning system, damped mass-spring, input saturation, feedback loop, anti-windup synthesis

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