Robust Anti-Windup Compensation for PID Controllers
نویسندگان
چکیده
In this paper an approach for robust anti-windup compensation design for PID controllers based on the characterization of H2 and H∞ norms as Linear Matrix Inequalities (LMI) is presented. The robustness is considered by assuring the closed loop performance, spite of unknown changes on the actuator saturation limits. The stability and performance margins are evaluated from H2 and H∞ norms of the controller output with respect to the actuator output transfer function, which are LMI restrictions. The design of the robust compensation gain is assured by means of a parameter-dependent Lyapunov function obtained from a convex optimization procedure with LMIs, which can be solved in polynomial time by specialized algorithms. Key-Words: Anti-windup compensation. PID. Lyapunov stability. LMI. H2-H∞ Control
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