A MODIFIED RATE-VARYING INTEGRAL CONTROLLER

The performance study of a controller having a rate-varying integral a ction is documented. The analyses, comprising simulation and experimen tal components, are conducted on a hydraulic actuation system. The mai n element of the controller is a fixed-gain proportional control; the addition of a modified tracking anti-windup integrator is first examin ed and compared with a patented integrator having a rate-varying multi plier. The study results in a modification in the calculation of the r ate-varying multiplier which outperforms both previous designs. The be nchmark test includes regulating and tracking experiments, and proves the promise of the modified technique. The experiments are perfomed on the up/down axis of an instrumented Unimate MK-II hydraulic manipulat or. Copyright (C) 1996 Elsevier Science Ltd.