Anti-windup compensator schemes for DC servo motor speed control system

This paper deals with design, simulation and implementation of anti-windup compensator (AWe) schemes for speed control of a DC servo motor. AWC is an auxiliary controller that ensures stability and performance in the event of input saturation which in turn cause windup. Three anti-windup compensator (AWC) schemes have been implemented to overcome the windup effects namely robust AWe, internal model control (IMC) based AWC and static AWC. Schemes are decoupled architecture based. Linear Matrix Inequalities (LMIs) are required to be solved to obtain the compensator gain for the robust and static AWCs. IMC based approach uses the plant dynamics to compensate for the input saturation effects. Further a comprehensive comparison of all the schemes has been included. Hardware-in-loop (HIL) simulations give an industrial and academic importance to this work.