Title :
Gain tuned internal model control for handling saturation in actuators
Author :
Ling, Chung Seng ; Brown, Michael D. ; Weston, Paul F. ; Roberts, Clive
Author_Institution :
Dept. of Electron., Electr. & Comput. Eng., Birmingham Univ., UK
fDate :
June 30 2004-July 2 2004
Abstract :
Many compensation techniques for handling saturation non-linearity have been devised, ranging from anti-windup, polynomial-based conditioning techniques, to nonlinear design techniques using state-space models. A new approach to handling actuator saturation based on internal model control (IMC) is proposed. Within the proposed framework, a gain term and first-order exponential filter are tuned to ´desaturate´ the actuator. A stability analysis shows the resulting system is always stable. Examples show the simplicity of design and the validity of proposed framework.
Keywords :
actuators; compensation; control nonlinearities; control system synthesis; filters; nonlinear control systems; polynomials; stability; state-space methods; actuator; compensation technique; first-order exponential filter; gain tuned internal model control; handling saturation nonlinearity; nonlinear design technique; polynomial-based conditioning technique; stability analysis; state-space model;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4