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Repetitive Control System Under Actuator Saturation and Windup Prevention


Sbarbaro, D and Tomizuka, M and Leon de la Barra, BA, Repetitive Control System Under Actuator Saturation and Windup Prevention, Journal of Dynamic Systems, Measurement and Control, 131, (4) EJ ISSN 0022-0434 (2009) [Refereed Article]

DOI: doi:10.1115/1.3117207


This work provides an analysis of the steady state response of a prototype repetitive controller applied to a class of nonlinear systems, i.e., systems with actuator saturation. First, it is shown that the steady state solution of the closed loop nonlinear system can be obtained by an iterative Picard process, which establishes the periodic nature of the steady state solution. Second, the conditions for obtaining bounded steady state responses are analyzed for a saturating nonlinearity commonly found in mechatronic applications. Valuable insight is provided into the effects of input signals and saturating actuators on the closed loop performance of a prototype repetitive controller. In order to improve the transient closed loop response, a simple antiwindup strategy tailored to repetitive controllers is proposed. © 2009 by ASME.

Item Details

Item Type:Refereed Article
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Field robotics
Objective Division:Expanding Knowledge
Objective Group:Expanding knowledge
Objective Field:Expanding knowledge in engineering
UTAS Author:Leon de la Barra, BA (Dr Bernardo Leon de la Barra)
ID Code:60909
Year Published:2009
Web of Science® Times Cited:16
Deposited By:Engineering
Deposited On:2010-02-22
Last Modified:2011-11-04

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