Robust Antiwindup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications
- Authors
- Hussain, Muntazir; Rehan, Muhammad; Ahn, Choon Ki; Tufail, Muhammad
- Issue Date
- 12월-2018
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- One-sided Lipschitz condition; parametric norm-bounded uncertainty; quadratic inner-boundedness; robust antiwindup compensator(AWC); saturation
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.65, no.12, pp.9706 - 9716
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
- Volume
- 65
- Number
- 12
- Start Page
- 9706
- End Page
- 9716
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/71426
- DOI
- 10.1109/TIE.2018.2815950
- ISSN
- 0278-0046
- Abstract
- This paper presents the robust nonlinear dynamic antiwindup compensator (AWC) design for nonlinear systems with parametric uncertainties and one-sided Lipschitz nonlinearities under actuator saturation. A decoupling architecture for a full-order AWC is proposed for the case of parametric uncertainties. AWC synthesis scheme is derived by employing the quadratic Lyapunov function, the notion of quadratic inner-boundedness, the one-sided Lipschitz condition, sector condition, and 2 gain minimization. An algorithm, based on the convex routines, by employing the cone complementary linearization, recursive computation, and a bilinear term resolving approach is provided for obtaining the AWC parameters. In contrast to the existing nonlinear AWC designs, our results provide a remedy to the input saturation for a widespread class of nonlinear systems and can effectively deal with the parametric uncertainties. The suggested AWC methodology is employed to compensate windup in the buck boost converter and one-link flexible robot with revolute joint.
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