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A simple anti-windup compensation scheme for systems with rate-limited actuators
Jorge Sofrony,Matthew C.Turner,Postlethwaite 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes a simple anti-windup scheme for linear systems which are asymptoticallys table but which have inputs which are limited in rate. The closed-loop system with these rate-limits and anti-windup compensation is proved to be globally a symptoticallys table and locally exponentiallys table. Furthermore, the L2 gain of a map which is central to the performance of the nonlinear closed-loop system is shown to befinite provided certain conditions are satisfied. One of the no table features of the proposed scheme is that it is exceptionally simple, and can be though to fas, in essence, a modified IMC anti-windup scheme.