제어로봇시스템학회:학술대회논문집
- 2000.10a
- /
- Pages.534-534
- /
- 2000
A Dynamic Anti-windup Scheme for Input-constrained Feedback Linearizable Nonlinear Systems
궤환선형화 가능한 비선형 시스템의 입력제한을 고려한 동적 와인드엎 방지
Abstract
This paper proposes a dynamic compensation scheme for input-constrained feedback linearizable nonlinear systems to cope with the windup phenomenon. Given a feedback linearizing controller for such a nonlinear system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. This dynamic anti-windup is based on the minimization of a reasonable performance index, and some stability properties of the resulting closed-loop are presented.