Multiple anti-windup loops under multiple activations: Dynamic case to enlarge domain of attraction

A multiple anti-windup loops under multiple dynamic activations strategy is proposed to enlarge the domain of attraction. This work is parallel to the multiple activation case with static compensators. The traditional anti-windup compensator is activated immediately as the saturation occurs. It was shown recently that, by delaying the activation of the anti-windup mechanism to a certain level, the performance can be improved for the closed-loop system. It was further shown that better performance can be obtained by activating an anti-windup mechanism in anticipation of actuator saturation, in comparison with the delayed activation design. This paper considers the anti-windup design problem of enlarging domain of attraction under a dynamic multiple activation scheme. In this multiple activation scheme, the anticipatory, delayed and immediate activation mechanism is incorporated in the same framework simultaneously. A furthermore significant performance improvements over both the immediate and delayed activation schemes can be observed. The proposed dynamic multiple activation scheme established a unified anti-windup framework and can be readily extended to the traditional immediate, delayed and anticipatory activation anti-windup mechanisms.