Actuator Saturation Control of LPV Systems and Systems with Rate and Amplitude Saturation

Abstract

In this thesis, we consider the design of anti-windup compensators for exponentially unstable systems with actuator saturation of amplitude and rate, as well as linear parameter varying systems. A set of synthesis conditions for anti-windup compensators are developed for each of the system types, in which the effects of actuator saturation are modeled as sector-bounded nonlinearities, using traditional linear fractional transformations. The performance criteria are the minimization of the induced L₂ norm from disturbance input to error output, as well as the minimization of controller windup due to actuator saturation. Explicit construction formulae are provided for the direct construction of these anti-windup compensators. An exponentially unstable linearized model of an F8 aircraft is used to validate the results of the control analysis. We present the main advantage of the two-step anti-windup controller design procedure; the ease of implementation and the maintenance of high performance criteria in design.