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Model Recovery Anti-windup Control for Marginally Stable Plants Based on Characteristic Modeling

In view of the input saturation of a class of marginally stable plant, this paper proposes a combination of golden-section adaptive controller based on characteristic modeling and model recovery anti-windup (MRAW) strategies. The main idea is that the low-order characteristic model in the form of second-order difference is equivalent to the output of the original plant. Considering the actuator input saturation, this low-order characteristic model is used to replace the original marginally stable plant in the anti-windup design. To design the MRAW compensator, it can simplify the solution of the MRAW compensator for a class of marginally stable plant. The design of the nominal controller is to establish the characteristic model of the plant based on the characteristic modeling theory, and we design an adaptive golden-section controller that can stabilize the closed-loop system and meet the control requirements. Numerical simulation verifies that the designed anti-windup compensator can well recover the tracking performance with input saturation.