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Repetitive control system under actuator saturation and windup prevention / D. Sbarbaro in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N° 4 (Juillet 2009) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N° 4 (Juillet 2009) . - 08 p. Titre : Repetitive control system under actuator saturation and windup prevention Type de document : texte imprimé Auteurs : D. Sbarbaro, Auteur ; M. Tomizuka, Auteur ; B. León de la Barra, Auteur Année de publication : 2009 Article en page(s) : 08 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control  systems;  control  equipment;  engineering  prototypes;  actuators;  signals;  steady  state Résumé : This work provides an analysis of the steady state response of a prototype repetitive controller applied to a class of nonlinear systems, i.e., systems with actuator saturation. First, it is shown that the steady state solution of the closed loop nonlinear system can be obtained by an iterative Picard process, which establishes the periodic nature of the steady state solution. Second, the conditions for obtaining bounded steady state responses are analyzed for a saturating nonlinearity commonly found in mechatronic applications. Valuable insight is provided into the effects of input signals and saturating actuators on the closed loop performance of a prototype repetitive controller. In order to improve the transient closed loop response, a simple antiwindup strategy tailored to repetitive controllers is proposed. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Issue.aspx?issueID=26497&di [...] [article] Repetitive control system under actuator saturation and windup prevention [texte imprimé] / D. Sbarbaro, Auteur ; M. Tomizuka, Auteur ; B. León de la Barra, Auteur . - 2009 . - 08 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N° 4 (Juillet 2009) . - 08 p. Mots-clés : control  systems;  control  equipment;  engineering  prototypes;  actuators;  signals;  steady  state Résumé : This work provides an analysis of the steady state response of a prototype repetitive controller applied to a class of nonlinear systems, i.e., systems with actuator saturation. First, it is shown that the steady state solution of the closed loop nonlinear system can be obtained by an iterative Picard process, which establishes the periodic nature of the steady state solution. Second, the conditions for obtaining bounded steady state responses are analyzed for a saturating nonlinearity commonly found in mechatronic applications. Valuable insight is provided into the effects of input signals and saturating actuators on the closed loop performance of a prototype repetitive controller. In order to improve the transient closed loop response, a simple antiwindup strategy tailored to repetitive controllers is proposed. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Issue.aspx?issueID=26497&di [...]