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Abstract
The modified Smith predictor (MSP) for integrating process with dead time (IPDT) has at least one pole at the origin of s-plane. The integral
effect leads to large overshoot and slow settling time when the control signal exceeds the saturation limits of the system actuator. The windup
problem in MSP is presented and studied. Based on the two degrees of freedom (2DOF) control schemes presented by Normey-Rico and Camacho,
an anti-windup controller (AWC) is proposed. By simulation, significant performance improvement demonstrates the effectiveness of the proposed
scheme.
c 2007, ISA. Published by Elsevier Ltd. All rights reserved.
1. Introduction and Ito [1] pointed out that if the process has poles near
the origin on the left half s-plane, the response may be
All processes are subjected to constraints in practice. The sluggish enough to be unacceptable, and they modified the
actuators have a limited range of action. Furthermore, in Smith predictor by replacing the exact process deliberately
practice, the operating points of plants are determined to by a mismatched process. Watanabe’s controller could yield
satisfy the overall economic goals of the process and lie at the zero-steady-state error and the desired transient response to
intersection of certain constraints. The control system normally step disturbance. Since then, a number of different approaches
operates close to the limits and constraint violations are likely have been developed to control IPDT [1,3–15,18]. Normey-
to occur. Therefore, in order to be successful, any controller Rico and Camacho modified Watanabe and Ito’s dead-time
must deal with constraint violations and correct them. Model compensator structure by adding a filter F(s) [10,13,14] for
Predictive Control (MPC) gives a systematic method to cope set-point signal. The controller [14] is compared to the other
with constraints. However, an MPC application is more costly, algorithms using robustness and performance indices; and for
time consuming and requires personnel with better training in the cases studied it is demonstrated to have better or at least the
control [2]. same performance–robustness as the others, and could maintain
If the closed-loop set-point response must guarantee a the simple tuning characteristics of the original SP [14].
desired performance with disturbance rejection, two degrees of However, even if omitting the nonlinear system leads to a
freedom (2DOF) controller is a general solution [14]. Because controller, an important problem in practice is still left behind.
2DOF controller structure decouples the set-point response It is known that the actuator saturation in practical system
from the disturbance response, both the set-point response is common, and windup phenomenon is observed in the PI
and the disturbance response can be tuned separately. Most or PID control systems. Pagano et al. [16] mentioned the
of the MSPs for IPDT are 2DOF controller structures. IPDT effects of saturation element in the system with Smith predictor.
is a representative model in the industry. In 1981, Watanabe They studied the effects of the dead-time uncertainties and the
actuator saturation based on the control scheme in paper [10].
∗ Corresponding author. Tel.: +86 451 86402214. In order to avoid the actuator saturation, the idea of shaping the
E-mail address: zhangmaorui@hit.edu.cn (M. Zhang). control signal was proposed in [17] to offer a two-level control
UO = UI , ULoL < U I < UupL (1) where the first part is a proportional gain, and the second part is
ULoL , U I ≤ ULoL . a zero-order holder with coefficient K vn . The internal feedback
channel is internal stable.
When the input signal is within the range specified by The feedback controller is:
the Lower limit (ULoL ) and Upper limit (UupL ), it passes
u c (s) C(s)
through the saturation element without changes. Without loss C1 (s) = =
of generality, we let ABS(ULoL ) = ABS(UupL ) = U L . When e1 (s) 1 + C(s)H (s)
the input signal is outside these bounds, the signal is clipped to K c s(1 + Ti s)
= . (3)
the upper or lower bound. Ti s + K c K vn (1 + Ti s)(1 − L n s − e−s L n )
2
sL
The transfer function of IPDT is P(s) = KsV e− . Let the If the system has a zero-steady-state error to step
K
model of the process be Pn (s) = sV n · e−s L n . IPDT with the disturbance, the controller must have at least one zero pole.
actuator saturation element is shown in Fig. 1. From Eq. (3), it follows that
Theoretically, for disturbance rejection, the control schemes
K K 1
of MSPs for IPDT in existence can be simplified to Fig. 2. The C1 (s) = ∞ + · ∞ . (4)
sL Ti · s Q
controller G c (s) may be the function of s and e− n . It is much (τi s + 1) (τi s + 1)
Q
more complicated than classical PI or PID controller. i=1 i=1
As each MSP needs to reject step disturbances, the controller As C1 (s) is stable, Re(1/τi ) > 0, 1 ≤ i < ∞ should
G c (s) must have at least one pole at the origin of s-plane. be satisfied. By Eq. (4), the controller C1 (s) is divided into
So, the existing schemes of MSP for IPDT will have windup two parts, one has proportional characteristic, and another
problem when the control signal u 1 exceeds the saturation has integral characteristic. Theoretically, the windup problem
bounds of system actuator. should be caused mainly by the integration part.
Windup problem may be partially solved by Internal Model Windup exists in the system with saturation if the controller
Control (IMC), especially for FOPDT. If the process is modeled has integrating function. The results of windup effect include
as IPDT, because the traditional SP cannot be used [4], MSP excessive process overshoot and long process settling time.
must be introduced. The authors think that whether or not the Based on Normey-Rico and Camacho’s controller, the saturated
IMC principal is valid for the existing MSPs is still an open SP was proposed in [16]. Unfortunately, it is internal unstable.
82 M. Zhang, C. Jiang / ISA Transactions 47 (2008) 80–84
Then,
Fig. 6. The simplified system.
u 2 (t) = L −1 (U2 (s))
= L −1 (G m (s)Am /s − Pn (s)U L /s) where
= L −1
((∆Am · (1 − s L n ) K C (1 + Ti · s)
F1 (s) =
+ U L (1 − s L n − e −s L n
))K vn /s )
2 K i + Ti · s + H (s) · K C · (1 + Ti · s)
Ki
= K vn (∆Am · (t − 1(t)L n ) F2 (s) = .
K i + Ti · s + H (s) · K C · (1 + Ti · s)
∞
((−δ(t))(i−2) L in /i!)),
X
− UL (6) From Eq. (7), it follows that
i=2
∞, Ki = 0
which shows that the inner feedback has the effect of lim u 1 (t) = KC (8)
integration. t→∞ ±U L − m 1 · , K i > 0.
Ki
If the actuator saturation is applied to both Pn (s) and G m (s),
According to Eq. (8), when K i > 0, the larger K i is,
simulation study shows that the close-loop performance cannot
the more accurate anti-windup effect may be obtained. When
be improved, although the system is internal stable.
K i = 0, limt→∞ u 1 (t) = ∞, which shows the controller has
Because the integral part can be separated from the MSP, integration effect. However, as the controller C1 (s) is not a PI
the similar anti-windup structure, which is shown in Fig. 4, for controller, some values of the gain K i , for the system might not
normal PI controller can be applied. However, it is much more be taken as suggested in classical anti-windup scheme for PI or
complicated, since from Eqs. (2) and (3), the controller C1 (s) PID controller. The stability of the system with the introduced
has as many as infinite of poles on the left half s-plane as well anti-windup scheme needs to be analyzed.
as one pole at the origin.
For studying the characteristic of the controller, we assume 3. Stability
that the control signal exceeds the saturation bounds. Because
u 3 is the output of the actuator, the absolute value of u 3 is not Because the amplitudes of harmonics are relatively small
larger than U L when windup happens. Assume that u 3 is a step in comparison with that of the fundamental, and the linear
signal with amplitude U L , i.e. u 3 (s) = ±U L /s, which may be part of the system can attenuate the harmonics sufficiently,
the worst case. For simplicity, the error e1 (t) is assumed to be the describing function method can be applied. If the model
a step signal with amplitude m 1 , though other forms of e1 (t) is perfectly matching, the stability of the system with the
may reveal more information. A qualitative analysis can show introduced anti-windup scheme may be analyzed by the
the performance improvement by introducing the anti-windup describing functions in the simplified system shown in Fig. 6.
technique. If the disturbance d(t) ≡ 0, Fig. 4 can be simplified G(s) is the equivalent transfer function. It is given by:
to be as in Fig. 5. NG K V K c (1 + Ti · s)e−Ls − K i · s
The control signal u 1 (t) is given by G(s) = = . (9)
DG s[K i + Ti · s + H (s)K c (1 + Ti · s)]
−1 m 1 UL The proposed controller has four parameters (K vn , L n ,
u 1 (t) = L (u 1 (s)) = L
−1
· F1 (s) ± · F2 (s) , (7) T1 and T0 ), and when a model of the process is obtained
s s
M. Zhang, C. Jiang / ISA Transactions 47 (2008) 80–84 83
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predictors for IPDT.
Robustness analysis for IPDT with AWC might be work left
for the future. Dr. Maorui Zhang was born on 1964 in Sichuan at
P.R. China. He is an Associate Professor in Center for
Control Theory and Guidance Technology at Harbin
Acknowledgements Institute of Technology. His research fields include:
Control of systems with dead times and uncertainties,
The authors are grateful to the anonymous reviewers who Application of control theory to process control, Auto-
contributed their valuable suggestions and comments to the tuning and self-tuning controllers, Magnetic levitation,
etc.
improvement of the content and organization of this paper. This
research is funded by China Scholarship Council (CSC).
Dr. Canghua Jiang received his B.Eng. and M.Eng.
References degrees in Automation from Dalian University of
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