This technical note is devoted to a recently discovered phenomenon that takes place in feedback systems with saturating actuators, proportional-integral (PI) control, and antiwindup. Namely, in such systems, measurement noise induces steady-state error in step tracking, which is incompatible with the standard error coefficients. We quantify this phenomenon using stochastic averaging theory and show that the noise induced loss of tracking occurs only if antiwindup is present. An indicator that predicts this phenomenon is derived, and a rule-of-thumb, based on this indicator, is formulated. An illustration using a digital printing device is provided.
Noise Induced Loss of Tracking in Systems With Saturating Actuators and Antiwindup
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 4, 2012; final manuscript received February 28, 2014; published online May 28, 2014. Assoc. Editor: Jiong Tang.
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Eun, Y., and Hamby, E. S. (May 28, 2014). "Noise Induced Loss of Tracking in Systems With Saturating Actuators and Antiwindup." ASME. J. Dyn. Sys., Meas., Control. September 2014; 136(5): 054501. https://doi.org/10.1115/1.4027163
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