Ks. Walgama et J. Sternby, CONDITIONING TECHNIQUE FOR MULTIINPUT MULTIOUTPUT PROCESSES WITH INPUT SATURATION, IEE proceedings. Part D. Control theory and applications, 140(4), 1993, pp. 231-241
The problems of controller windup and directional change in controls,
in controllers for multiinput multioutput processes with input saturat
ion, is considered. To avoid the windup problem, a generalisation is p
roposed for the conditioning technique based antiwindup compensator, b
y introducing a filtered setpoint. This provides a parameterisation to
deal with situations where the original conditioning technique was no
t suitable. To reduce the effect of directional change in controls due
to the multiple saturation, further modifications to the conditioning
technique are proposed. An interesting outcome is that the generalise
d antiwindup compensator due to Astrom and Wittenmark is interpreted i
n terms of the conditioning technique; moreover, these interpretations
are used to introduce modifications to their scheme in order to deal
with the problem of directional change in controls.