Performance of Variable Structure controllers, with a PI algorithm varying as a function of the error, is analysed in the case of systems subject to uncertainty and saturation nonlinearities. The overall logic is to accomplish large proportional and small integral action for large errors and, viceversa, large integral and small proportional actions, for small errors. The comparison is carried out with respect to constant parameters controllers designed according to the Internal Model Control theory and supplied with an antiwindup device to limit deterioration of performance caused by saturation. Simulation results show that for comparable speed of the time responses in the nominal and unconstrained case, the VS-PI controller is less affected by uncertainty and saturation both for set point tracking and for rejection of disturbances entering at the plant input.
Variable structure PI controllers in the presence of uncertainty and saturation
SCALI, CLAUDIO;LANDI, ALBERTO;BALESTRINO, ALDO
1994-01-01
Abstract
Performance of Variable Structure controllers, with a PI algorithm varying as a function of the error, is analysed in the case of systems subject to uncertainty and saturation nonlinearities. The overall logic is to accomplish large proportional and small integral action for large errors and, viceversa, large integral and small proportional actions, for small errors. The comparison is carried out with respect to constant parameters controllers designed according to the Internal Model Control theory and supplied with an antiwindup device to limit deterioration of performance caused by saturation. Simulation results show that for comparable speed of the time responses in the nominal and unconstrained case, the VS-PI controller is less affected by uncertainty and saturation both for set point tracking and for rejection of disturbances entering at the plant input.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
