Abstract
In this paper, we propose a method of control system design which takes the actuator saturation into consideration. By using a hyperbolic tangential function as the saturation function, we introduce both the time derivative of the controller output and the anti-windup control structure with the feedback loop of the error between the controller output and the saturation function output. Furthermore, we formulate a linear parameter-varying system to design the gain-scheduled controller. The effectiveness of our proposed method is verified by carrying out the experiments of the positioning control for a cart and inverted pendulum system.
| Original language | English |
|---|---|
| Pages (from-to) | 953-959 |
| Number of pages | 7 |
| Journal | JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing |
| Volume | 46 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2003 Sep 1 |
| Externally published | Yes |
Keywords
- Actuator
- Actuator saturation
- Anti windup control
- Gain scheduled control
- Positioning
- Robust control
- Servo mechanism
- Unstable system
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering
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Cite this
Itagaki, N., Nishimura, H., & Takagi, K. (2003). Design method of gain-scheduled control system considering actuator saturation (experimental verification for cart and inverted pendulum system). JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, 46(3), 953-959. https://doi.org/10.1299/jsmec.46.953