Absolute stability theory of feedback interconnections and robust antiwindup control design

几乎所有的物理对象都具有非线性，并且通常可以通过考虑它们来改善控制性能。最常见的例子是执行器饱和，因为实际上所有执行器的操作都是有限的。考虑到这种饱和的控制策略通常被称为反饱和。将防发条作为故障保险是标准做法。通常的情况是，将执行器驱动到饱和状态比使用不激发饱和非线性的谨慎控制器可以产生更好的性能。该建议涉及考虑执行器饱和的控制器。它将结合严格的反饱和设计方法与鲁棒性的考虑，更广泛地说，与非线性反馈系统的绝对稳定性理论相结合。工作将分为四个方案：*方案1，统一分析结果。*方案2，稳健的反发条问题定义和反发条综合。*方案3，具体系统设计。*方案4，硬件基准和工业应用。

Almost all physical plants have nonlinearities, and often control performance can be improved by taking them into account. The most commonly encountered example is actuator saturation, since in practice all actuators have limited operation. Control strategies that take such saturation into account are usually termed antiwindup. It is standard to include antiwindup as a failsafe. It is often the case that driving actuators into saturation can result in better performance than using cautious controllers that do not excite the saturation nonlinearities.This proposal concerns controllers that take into account actuator saturation. It will combine rigorous antiwindup design methods with considerations of robustness and more generally with the absolute stability theory of nonlinear feedback systems. Emphasis will also be placed on transferring the results to concrete applications via hardware benchmarking and industrial collaboration.The work falls into four programmes:* Programme 1, unification of analysis results.* Programme 2, robust antiwindup problem definition and antiwindup synthesis.* Programme 3, system specific design.* Programme 4, hardware benchmarking and industrial application.