Integral anti-windup scheme of full-state feedback control for point-to-point (PTP) positioning system

A good controller is required to achieve the best performance of a motion control system. However, most of the controllers including full-state feedback controller are designed based on the assumption that the system is linear. Practically, there are nonlinearities in the motion control systems due to physical limitation. One of the nonlinearity is actuator saturation which degrades the motion control system performance. To overcome actuator saturation problem, in this paper, a full-state feedback controller with integral anti-windup is introduced and proposed for PTP positioning system. The effectiveness of the proposed approach is evaluated through simulation and experimental studies on the experimental rotary positioning system. It is shown that by adding the integral anti-windup, the positioning performance can be improved when the system saturates.