Robust Anti-Windup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications

Muntazir Hussain, Muhammad Rehan, Choon Ki Ahn, Muhammad Tufail

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

This paper presents the robust nonlinear dynamic anti-windup compensator (AWC) design for nonlinear systems with parametric uncertainties and one-sided Lipschitz nonlinearities under actuator saturation. A decoupling architecture for a full-order AWC is proposed for the case of parametric uncertainties. AWC synthesis scheme is derived by employing the quadratic Lyapunov function, the notion of quadratic inner-boundedness, the one-sided Lipschitz condition, sector condition, and gain minimization. An algorithm, based on the convex routines, by employing the cone complementary linearization, recursive computation, and a bilinear term resolving approach is provided for obtaining the AWC parameters. In contrast to the existing nonlinear AWC designs, our results provide a remedy to the input saturation for a widespread class of nonlinear systems and can effectively deal with the parametric uncertainties. The suggested AWC methodology is employed to compensate windup in the buck-boost converter and one-link flexible robot with revolute joint.

Original languageEnglish
JournalIEEE Transactions on Industrial Electronics
DOIs
Publication statusAccepted/In press - 2018 Mar 14

Fingerprint

Nonlinear systems
Lyapunov functions
Linearization
Cones
Actuators
Robots
Uncertainty

Keywords

  • Onesided Lipschitz condition
  • Parametric norm-bounded uncertainty
  • Quadratic inner-boundedness
  • Robust anti-windup compensator
  • Saturation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Robust Anti-Windup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications. / Hussain, Muntazir; Rehan, Muhammad; Ahn, Choon Ki; Tufail, Muhammad.

In: IEEE Transactions on Industrial Electronics, 14.03.2018.

Research output: Contribution to journalArticle

@article{3b1ecc076ccb416baea414f0b6580ba8,
title = "Robust Anti-Windup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications",
abstract = "This paper presents the robust nonlinear dynamic anti-windup compensator (AWC) design for nonlinear systems with parametric uncertainties and one-sided Lipschitz nonlinearities under actuator saturation. A decoupling architecture for a full-order AWC is proposed for the case of parametric uncertainties. AWC synthesis scheme is derived by employing the quadratic Lyapunov function, the notion of quadratic inner-boundedness, the one-sided Lipschitz condition, sector condition, and gain minimization. An algorithm, based on the convex routines, by employing the cone complementary linearization, recursive computation, and a bilinear term resolving approach is provided for obtaining the AWC parameters. In contrast to the existing nonlinear AWC designs, our results provide a remedy to the input saturation for a widespread class of nonlinear systems and can effectively deal with the parametric uncertainties. The suggested AWC methodology is employed to compensate windup in the buck-boost converter and one-link flexible robot with revolute joint.",
keywords = "Onesided Lipschitz condition, Parametric norm-bounded uncertainty, Quadratic inner-boundedness, Robust anti-windup compensator, Saturation",
author = "Muntazir Hussain and Muhammad Rehan and Ahn, {Choon Ki} and Muhammad Tufail",
year = "2018",
month = "3",
day = "14",
doi = "10.1109/TIE.2018.2815950",
language = "English",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",

}

TY - JOUR

T1 - Robust Anti-Windup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications

AU - Hussain, Muntazir

AU - Rehan, Muhammad

AU - Ahn, Choon Ki

AU - Tufail, Muhammad

PY - 2018/3/14

Y1 - 2018/3/14

N2 - This paper presents the robust nonlinear dynamic anti-windup compensator (AWC) design for nonlinear systems with parametric uncertainties and one-sided Lipschitz nonlinearities under actuator saturation. A decoupling architecture for a full-order AWC is proposed for the case of parametric uncertainties. AWC synthesis scheme is derived by employing the quadratic Lyapunov function, the notion of quadratic inner-boundedness, the one-sided Lipschitz condition, sector condition, and gain minimization. An algorithm, based on the convex routines, by employing the cone complementary linearization, recursive computation, and a bilinear term resolving approach is provided for obtaining the AWC parameters. In contrast to the existing nonlinear AWC designs, our results provide a remedy to the input saturation for a widespread class of nonlinear systems and can effectively deal with the parametric uncertainties. The suggested AWC methodology is employed to compensate windup in the buck-boost converter and one-link flexible robot with revolute joint.

AB - This paper presents the robust nonlinear dynamic anti-windup compensator (AWC) design for nonlinear systems with parametric uncertainties and one-sided Lipschitz nonlinearities under actuator saturation. A decoupling architecture for a full-order AWC is proposed for the case of parametric uncertainties. AWC synthesis scheme is derived by employing the quadratic Lyapunov function, the notion of quadratic inner-boundedness, the one-sided Lipschitz condition, sector condition, and gain minimization. An algorithm, based on the convex routines, by employing the cone complementary linearization, recursive computation, and a bilinear term resolving approach is provided for obtaining the AWC parameters. In contrast to the existing nonlinear AWC designs, our results provide a remedy to the input saturation for a widespread class of nonlinear systems and can effectively deal with the parametric uncertainties. The suggested AWC methodology is employed to compensate windup in the buck-boost converter and one-link flexible robot with revolute joint.

KW - Onesided Lipschitz condition

KW - Parametric norm-bounded uncertainty

KW - Quadratic inner-boundedness

KW - Robust anti-windup compensator

KW - Saturation

UR - http://www.scopus.com/inward/record.url?scp=85043773564&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85043773564&partnerID=8YFLogxK

U2 - 10.1109/TIE.2018.2815950

DO - 10.1109/TIE.2018.2815950

M3 - Article

AN - SCOPUS:85043773564

JO - IEEE Transactions on Industrial Electronics

JF - IEEE Transactions on Industrial Electronics

SN - 0278-0046

ER -