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Repetitive Control System Under Actuator Saturation and Windup Prevention
journal contribution
posted on 2023-05-17, 01:28 authored by Sbarbaro, D, Tomizuka, M, Bernardo Leon de la BarraThis 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.
History
Publication title
Journal of Dynamic Systems, Measurement and ControlVolume
131Issue
4Pagination
EJISSN
0022-0434Department/School
School of EngineeringPublisher
Asme-Amer Soc Mechanical EngPlace of publication
Three Park Ave, New York, USA, Ny, 10016-5990Repository Status
- Restricted