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Modern Anti-windup Synthesis by Andrew R. Teel, Luca Zaccarian

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Chapter Six

 

 

The MRAW Framework

6.1 INTRODUCTION

All of the anti-windup algorithms presented in this part of the book share a common, external anti-windup structure. The term “model recovery anti-windup” (MRAW) will be used for these algorithms because the structure they use recovers the unconstrained plant model as seen from the viewpoint of the unconstrained controller. This feature keeps the unconstrained controller from misbehaving in the constrained closed loop with anti-windup augmentation, and it gives this closed loop some information about how it would be performing in the ideal case without constraints. Equipped with this information, the degrees of freedom that remain within the MRAW structure can be used to address recovering ...

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