Analysis of Anti-Windup Controllers Based on Analysis of Output Reachable Sets
Ryo Watanabe, Kenko Uchida, Masayuki Fujita · Transactions of the Society of Instrument and Control Engineers · 1999
The actual control systems possess some kind of restrictions on the control inputs like saturation, rate limit, and so on. It is known that these restrictions usually cause the large overshoot of the controlled variables for step reference signals. This overshoot phenomenon is called the windup phenomenon. Though the windup phenomenon crucially causes the undesirable performance of the actual control systems, formulation of the windup phenomenon from a control-theoretical point of view has not been proposed yet.In this paper, we characterize the windup phenomenon via output reachable sets and propose analysis technique for the windup based on reachable set analysis. Then we propose a new framework for anti-windup technique and characterize its anti-windup performance via output reachable sets. We also propose analysis technique for anti-windup performance based on reachable set analysis.