Anti-windup synthesis for nonlinear dynamic inversion control schemes

作者：Herrmann G^*; Menon P P; Turner M C; Bates D G; Postlethwaite I

来源：International Journal of Robust and Nonlinear Control, 2010, 20(13): 1465-1482.

DOI：10.1002/rnc.1523

• nonlinear dynamic inversion control
• actuator saturation limits
• anti-windup compensation
• constrained control
• L(2)-gain optimization
• nonlinear optimization

A general anti-windup (AW) compensation scheme is provided for a class of input constrained feedback-linearizable nonlinear systems. The controller considered is an inner-loop nonlinear dynamic inversion controller, augmented with an outer-loop linear controller, of arbitrary structure. For open-loop globally exponentially stable plants, it is shown that (i) there always exists a globally stabilizing AW compensator corresponding to a nonlinear generalization of the Internal-Model-Control (IMC) AW solution; (ii) important operator theoretic parallels exist between the AW design scheme for linear control and the suggested AW design scheme for nonlinear affine plants and (iii) a more attractive AW compensator may be obtained by using a nonlinear state-feedback term, which plays a role similar to the linear state-feedback term in linear coprime factor-based AW compensation. The results are demonstrated on a dual-tank simulation example.

• 出版日期2010-9-10