DYNAMICAL ANTIRESET WINDUP METHOD FOR DISCRETE-TIME SATURATING SYSTEMS

This paper presents a dynamical anti-reset windup method for multivari able discrete-time saturating control systems. With the intention of m aintaining the behavior of unsaturated linear systems as far as possib le, an additional dynamical compensator is determined explicitly for t he saturating system. Due to the additional compensator, the state pos itioning problem of saturated systems is completely resolved. The prop osed method guarantees total stability of resulting systems, and asymp totic stability in the absence of exogeneous inputs can be addressed e asily. The resulting dynamics of the compensated controller reflects t he linear closed-loop system. The proposed method is applicable to any open-loop stable plants with saturating actuators and linear controll ers. Simulation examples are included to illustrate the effectiveness of the proposed method. (C) 1997 Elsevier Science Ltd.