Projeto de Compensador Anti-Windup para Sistemas Sujeitos a Atrasos nos Estados com Taxa de Variação Limitada

SOUZA, CARLA DE ; LEITE, VALTER J. S.; SILVA, LUIS F. P. ; RUBIO SCOLA, IGNACIO

Porto Alegre

Conferencia; XIII Simpósio Brasileiro de Automação Inteligente; 2017

This paper addresses the design of static anti-windup compensator for discrete-time systems withstate delay and saturating actuators. In this case, systems with time-varying uncertainties and delays are treated,and in addition, it is assumed that maximum delay variation has limited rates, which may leads to less conservativeresults on both analysis and compensator design. Considering that the system is subject to action of boundeddisturbances in energy, the proposed conditions for the synthesis of the anti-windup compensator should ensurethat the trajectories of the system are bounded and a certain l 2 performance level is achieved by the regulatedoutputs. For this, the system with delay and polytopic uncertainties is rewritten as an uncertain augmentedsystem and switched by the value of the delay. In addition, saturation is given in terms of a dead-zone nonlinearity,with the application of the generalized sector condition. From the given conditions, convex optimization problemsare proposed in order to maximize the bound on the admissible disturbances or to minimize de l 2 gain. Finally,numerical examples are presented to demonstrate the efficiency of the proposed methods.