文章基本信息

标题：Robust High-Gain Generalization of PID Controllers with Anti-Windup Compensation ⁎
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作者：Oleg I. Borisov ; Stanislav I. Tomashevich ; Vladislav S. Gromov 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：4
页码：352-357
DOI：10.1016/j.ifacol.2018.06.090
语种：English
出版社：Elsevier
摘要：AbstractGeneralization of PID controllers depending on the plant relative degree is addressed in the paper. The consecutive compensator approach is redesigned in the state-space representation and augmented with the integral loop and anti-windup scheme. The stability of the closed-loop system is proved. Efficiency of the proposed approach is illustrated by the experiments carried out using the 2-DOF indoor quadcopter testbed.
关键词：KeywordsRobust controlOutput regulationSaturation controlWindupPopov criterion