An Anti-windup Scheme for PB Based FEL

Abstract

Anti-windup methods deal with saturation problems in systems with known actuator limits. Part of the controller design is devoted to constraint handling in order to avoid pernicious behaviour of the systems. Feedback error learning is an on-line learning strategy of inverse dynamics. It sequentially acquires an inverse model of a plant through feedback control actions. In previous works we proposed an approach to implement the FEL control scheme through Piecewise Bilinear models. In this paper, a PB based FEL implementation scheme is proposed, where saturations provoked by the input constraints are taken into account for the inverse model learning algorithm. © Springer International Publishing Switzerland 2014.