Saturation and windup

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In this we study phenomena induced by  saturation. By the end of this lecture, you should be able to:

  • Understand issues resulting from actuator saturation, with a special focus on integrator windup.

Lecture slides can be downloaded here: lec07.pdf

 

Saturation and windup

We introduce and explain integrator windup, which is a common byproduct of actuator saturation.

Anti-windup

We introduce a common anti-windup scheme that is used to prevent integrator windup.

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