A switched and scheduled design for model recovery anti-windup of linear plants

Andrea Cristofaro , Sergio Galeani (1) , Simona Onori (2) , Luca Zaccarian (3, 4)

1 DISP - Dipartimento di Informatica, Sistemi e Produzione [Roma]
2 Stanford University
3 Dipartimento di Ingegneria Industriale [Trento]
4 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande

We provide two nonlinear solutions to the model recovery anti-windup (MRAW) design problem, both of them relying on the definition of a set of nested ellipsoids in the state space of the anti-windup dynamics. Each ellipsoidal set arises from a convenient trade-off between size of the ellipsoid and guaranteed exponential convergence rate induced by the corresponding saturated feedback. The first solution is given by a hybrid selection of the MRAW stabilizer, relying on a natural hysteresis switching mechanism. The second solution corresponds to a Lipschitz but non-differentiable scheduled selection, which essentially smoothens out the discontinuous nature of the nested ellipsoids. We discuss the role of our design architecture and establish a number of important properties induced by the proposed controllers. Their effectiveness is comparatively illustrated on a few example studies.

Mots clés: bounded control; model recovery anti-windup; scheduled stabilizer; switched stabilizer

Domaines: Automatique / Robotique

Andrea Cristofaro, Sergio Galeani, Simona Onori, Luca Zaccarian. A switched and scheduled design for model recovery anti-windup of linear plants. European Journal of Control, 2019, 46, pp.23-35. ⟨10.1016/j.ejcon.2018.04.002⟩. ⟨hal-01851129⟩