Alternative observer-based compensator design for robust asymptotic disturbance rejection in view of input saturation
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Abstract
A new design of observer-based compensators for robust asymptotic rejection of persistent disturbances is presented. A systematic method to prevent controller windup caused by input saturation is the observer technique, i.e., driving the observer by the constrained plant input. When using the internal model principle this technique does not stabilize the compensator during saturation. Therefore, several additional measures have been developed to overcome this problem. The approach presented here follows a completely different path. It starts with a compensator of sufficient order, which is first designed for pole placement. By subsequently modifying the feedback of the observer states and, if necessary, of the system outputs, the conditions for a robust disturbance rejection are satisfied. Thus, the observer technique directly assures windup prevention.
Zusammenfassung
Vorgestellt wird ein neuer Entwurf beobachterbasierter Regler zur robusten asymptotischen Störkompensation. Ein systematischer Ansatz zur Vermeidung von Regler-Windup bei Stellbegrenzung ist die Beobachtertechnik, bei der man einfach den Beobachter mit dem begrenzten Stellsignal ansteuert. Beim Entwurf nach dem internen Modell-Prinzip führt dies aber nicht zur Stabilisierung des Reglers während der Begrenzung. Deshalb wurden verschiedene Zusatz-Massnahmen entwickelt, um dieses Problem zu beheben. Der hier vorgestellte Ansatz beschreitet einen grundsätzlich anderen Weg. Er beginnt mit einem Zustandsregler hinreichender Ordnung, der zunächst nur für die Polzuweisung dimensioniert wird. Dann modifiziert man die Rückführung von Beobachterzustand und, falls nötig, Streckenausgang so, dass eine robuste Störunterdrückung gewährleistet ist. Dadurch ist die Beobachtertechnik ohne weitere Massnahmen anwendbar.
About the authors
Dr.-Ing. Peter Hippe worked as Akademischer Direktor at Lehrstuhl für Regelungstechnik of the Universität Erlangen-Nürnberg till September 2006. Main fields of interest: Control systems with plant input restrictions, design of state controllers and of MIMO compensators in the frequency domain.
Prof. Dr.-Ing. habil. Günter Roppenecker was head of Lehrstuhl für Regelungstechnik of the Universität Erlangen-Nürnberg till spring 2019 and has retired since then. He was mainly concerned with design techniques for linear systems and control engineering applications in motor vehicles.
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Research ethics: Not applicable.
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Informed consent: Not applicable.
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Author contributions: The authors have accepted responsibility for the entire content of this manuscript and approved its submission.
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Use of Large Language Models, AI and Machine Learning Tools: None declared.
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Conflict of interest: The authors state no conflict of interest.
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Research funding: None declared.
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Data availability: Not applicable.
References
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Articles in the same Issue
- Frontmatter
- Survey
- Combining OPC UA with Semantic Web technologies and AI – state-of-the-art and future research directions
- Methods
- Analysis of the effect of irrelevant information for the design of soft sensors
- Alternative observer-based compensator design for robust asymptotic disturbance rejection in view of input saturation
- Applications
- SIM-CIP: concept of a spatial information model for complex industrial plants
- Effizienzsteigerung industrieller Prozesse durch AAS-Integration von Zeitreihendaten und Serviceanfragen
- Modellbasierter Entwurf und Validierung einer Eigenschaftsregelung für das Drückwalzen metastabiler Austenite
- Gleichmäßige Momentenverteilung in einer dualen dreiphasigen Synchronmaschine zur Bestimmung der wirkenden Last
