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On directional change and anti-windup compensation in multivariable control systems

Dariusz Horla — 2009

International Journal of Applied Mathematics and Computer Science

The paper presents a novel description of the interplay between the windup phenomenon and directional change in controls for multivariable systems (including plants with an uneven number of inputs and outputs), usually omitted in the literature. The paper also proposes a new classification of anti-windup compensators with respect to the method of generating the constrained control signal.

Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel

Adam Owczarkowski;  Dariusz Horla — 2016

International Journal of Applied Mathematics and Computer Science

Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to assure a certain performance level. In this paper, we propose to use an actuator fault-tolerant control law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take into account unmodeled uncertainty introduced by using a linearized model in an LQR fashion. Our proposal is illustrated by signal...

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