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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 MRAW Framework

The MRAW Framework

(p.157) Chapter Six The MRAW Framework
Modern Anti-windup Synthesis

Luca Zaccarian

Andrew R. Teel

Princeton University Press

This chapter introduces the model recovery anti-windup (MRAW) framework. The MRAW structure recovers the unconstrained plant model as seen from the perspective of the unconstrained controller. This feature prevents the unconstrained controller from misbehaving in the constrained closed loop with anti-windup augmentation, and gives the closed loop some information about how it would be performing in the ideal case without constraints. The MRAW structure reduces the anti-windup synthesis problem to a problem of direct control design for input saturation. This means that the degrees of freedom can be constructed ignoring the existence of the predesigned linear controller. The chapter describes the MRAW structure through block diagrams, transfer functions, and state–space representations.

Keywords:   model recovery anti-windup, unconstrained plant, unconstrained controller, constrained closed loop, anti-windup augmentation, anti-windup synthesis, direct control design, input saturation, state–space representation, anti-windup

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