SUPSI
DTI
Progettazione Control Wind-up
Controllori
Actuation signal
Output signal
SUPSI
DTI
Progettazione PID controller with Anti-Wind-up
Controllori
Kt
1
s
Ki
Integrator
1
Kp
In
1
Saturation
du/dt
Kd
Derivative
Or limitation of output
Out
SUPSI
DTI
Progettazione Anti-Wind-up through
saturated feedback and
Controllori
FIR filter implementation
N(z) and F(z) are numerator and denominator polynomials in z-1
All signals bounded!
SUPSI
DTI
Progettazione Anti-Wind-up through
saturated feedback and
Controllori
IIR filter implementation
If Anti-windup measure is too fast (actuation signal may
jump from bound to bound) slow-down with low-pass filter F(z)
F(z) is polynomial in z-1 with well stable poles (inside unit circle)
Case F(z)=1 corresponds to previous case.
SUPSI
DTI
Progettazione Anti-Wind-up through
saturated feedback
Controllori
for state-feedback controllers
All signals bounded!
SUPSI
DTI
Progettazione Anti-Wind-up through
saturated feedback
Controllori
for state-feedback controllers
F(z) is polynomial in z-1 with stable poles (inside unit circle)