Stability analysis of simple anti-windup compensation in approximate pole-placement control of a second order oscillatory system with time delay
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ 2 ] Katedra Sterowania i Inżynierii Systemów, Wydział Informatyki, Politechnika Poznańska | [ D ] phd student | [ P ] employee
EN The main purpose of this paper, is to analyze the stability of anti-windup compensation impact on tracking performance for a second order plant with time delay and continuous-time PID controller tuned by pole-placement. The paper present results of the research that extends the output from the previous MMAR paper, and is mainly focused on analyzing the stability interplay with open-loop parameters, to show the application limits of the already proposed control law. In the paper, the non-Pade approximation of time delay is used in order to obtain a solution of Diophantine equation. The performance evaluation of the system is based on comparison between integral of absolute and squared tracking errors for system with and without compensation. On the other hand the BIBO stability test of the system is based on computation of the differences between consecutive peaks of possibly diverging output signal. The control system quality is described on the basis of two quality indices in case of stable oscillatory second-order plant with step function reference signal. The main contribution of the paper, is a given rule of thumb that defines the limits of requirements imposed on the dynamics of the closed-loop system with respect to anti-windup compensation scheme applied and modes of the plant and is a natural extension to the results presented before, where the control law has been derived with comments about its performance.
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