Pełnotekstowe zasoby PLDML oraz innych baz dziedzinowych są już dostępne w nowej Bibliotece Nauki.
Zapraszamy na


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
2009 | 19 | 2 | 271-279

Tytuł artykułu

Control error dynamic modification as an efficient tool for reduction of effects introduced by actuator constraints

Treść / Zawartość

Warianty tytułu

Języki publikacji



A modification of digital controller algorithms, based on the introduction of a virtual reference value, which never exceeds active constraints in the actuator output is presented and investigated for some algorithms used in single-loop control systems. This idea, derived from virtual modification of a control error, can be used in digital control systems subjected to both magnitude and rate constraints. The modification is introduced in the form of on-line adaptation to the control task. Hence the design of optimal (in a specified sense) digital controller parameters can be separated from actuator constraints. The adaptation of the control algorithm (to actuator constraints) is performed by the transformation of the control error and is equivalent to the introduction of a new, virtual reference value for the control system. An application of this approach is presented through examples of three digital control algorithms: the PID algorithm, the dead-beat controller and the state space controller. In all cases, clear advantages of transients are observed, which yields some general conclusions to the problem of processing actuator constraints in control.








Opis fizyczny




  • Institute of Automatic Control and Robotics, Warsaw University of Technology, ul. Św. A. Boboli 8, 02-525 Warsaw, Poland


  • Advant® CS (1998). User's Guide, ABB Industrial Systems AB.
  • Åstrom, K. and Hägglund, T. (1995). PID Controllers, Theory, Design and Tuning, 2nd Edition, ISA Press, London.
  • Åstrom, K. and Wittenmark, B. (1997). Computer Controlled Systems-Theory and Design, Prentice Hall, New York, NY.
  • Grimm, G., Postlethwaite, I., Teel, A. T., Turner, M. C. and Zaccarian, L. (2003). Case studies using linear matrix inequalities for optimal anti-windup synthesis, European Journal of Control 9: 463-470.
  • Hanus, R., Kinnaert, M. and Henrotte, J. L. (1987). Conditioning technique, a general anti-windup and bumpless transfer method, Automatica 23: 729-739.
  • Hippe, P. (2003). Windup prevention for unstable systems, Automatica 39: 1967-1973.
  • Janiszowski, K. (1983). A linear digital controller for single loop control systems, International Journal on Control 37(1): 159-174.
  • Janiszowski, K. (2004). Adaptation, modelling of dynamic drives and controller design in servomechanism pneumatic systems, IEEE Proceedings-Control Theory & Applications 151(2): 234-245.
  • Janiszowski, K. (2005). Dynamic modification of reference value for improvement of PID control, Proceedings of the IEEE Conference on Methods and Models in Automation and Robotics, MMAR, Mi˛edzyzdroje, Poland, (on CD-ROM).
  • Kothare, M. V., Campo, P. J., Morari, M. and Nett, C.N. (1994). A unified framework for the study of anti-windup designs, Automatica 30(12): 1869-1883.
  • Ngyuen, T. and Jabbari, F. (2000). Output feedback controllers for disturbance attenuation with actuator amplitude and rate saturation, Automatica 36: 1339-1346.
  • Shinskey, F.G. (1996). Process Control Systems-Application, Design, Tuning, Mc-Graw Hill, New York, NY.
  • Siemens (1990). Compact Controller SIPART DR20, Project planning manual.
  • da Silva, J. M. G., Tarbouriech, S. and Garcia, G. (2003). Local stabilisation of linear systems under amplitude and rate saturating actuators, IEEE Transactions on Automatic Control 48(5): 842-847.
  • Scottedward, H. A. and Hall, C. E. (2001). Variable structure PID control to prevent integrator windup, IEEE Transactions on Electronics 48: 442-451.
  • Turner, M. C. and Postlethwaite, I. (2004). A new perspective on static and low order anti-windup synthesis, International Journal on Control 77(1): 27-44.
  • Unbehauen, H. (1987). Regelungstechnik II, Vieweg Verlag, Braunschweig.
  • Visioli, A. (2003). Modified anti-windup scheme for PID controllers, IEE Proceedings-D 150(1): 49-54.
  • Walgama, K. S., Rönback, S. and Sternby, J. (1992). Generalisation of conditioning technique for anti-windup compensators, IEE Proceedings-D 132(2): 705-724.
  • Walgama, K. S. and Sternby J. (1993). On the convergence properties of adaptive pole-placement controllers with antiwindup compensators, IEEE Transactions on Automatic Control 38(1): 128-132.

Typ dokumentu



Identyfikator YADDA

JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.