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Antireset windup eliminate integral term from

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Unformatted text preview: setpoint change. Especially if we reach actuator limits and stay at constraints. What do we do about it? “Antireset windup”: eliminate integral term from controller during setpoint change or while inputs are saturated at their limit. Derivative kick: What is it? What do we do about it? Use derivative on ym, not e. (Otherwise if setpoint is changed quickly, get problems.) ⎡ ⎤ τ Δt k pk = p + K c ⎢ ek + ∑ e j − D ( ym,k − ym,k −1 ) ⎥ τ I j=1 Δt ⎣ ⎦ (Can do something similar for proportional kick, but it is less of a problem.) Velocity form (Use this in Lab 3) • No need for anti ­windup reset! • No need to specify pbar in controller Closed loop dynamics By adding a controller to your system, you create a new dynamic system, whose input is the setpoint of the system. Simplest case: plant dynamics with controller, i.e. Gs = 1, Ga = 1 MV CV ! Cdes ,m !V # "...
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