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Mitigating noise-induced tracking loss in PI controlled systems with saturating actuators
- Mitigating noise-induced tracking loss in PI controlled systems with saturating actuators
- Shin, Yi Rang; Eun, Yongsoon
- DGIST Authors
- Eun, Yongsoon
- Issue Date
- 2019 American Control Conference, ACC 2019, 1773-1778
- This technical note addresses a problem of mitigating noise induced tracking loss in a closed-loop system with linear plant, PI controller, saturating actuator, and anti-windup. For such systems, it was recently discovered that with the presence of zero mean measurement noise the mean of the output process at steady-state exhibits a level of tracking error. This phenomenon was termed as 'Noise-Induced Tracking Error (NITE).' Low pass filtering the measurement noise may be a solution to mitigate NITE, however, adding a filter affects the stability and also the transient tracking performance. This paper proposes to use an observer as a filter to decouple filter dynamics and the system stability, avoid performance loss in transient tracking, and most importantly, eliminate the noise induced tracking error. To accomplish these, a standard is necessary for observer gain selection, which is provided based on Quasilinear Control Theory. Finally, proof of the separation principle for PI-controlled feedback system is derived and the region of stability that considers the actuator saturation nonlinearity is presented. © 2019 American Automatic Control Council.
- Institute of Electrical and Electronics Engineers Inc.
- Related Researcher
DSC Lab(Dynamic Systems and Control Laboratory)
Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
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- Department of Information and Communication EngineeringDSC Lab(Dynamic Systems and Control Laboratory)2. Conference Papers
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