抄録
In this paper, we propose a method of control system design which takes actuator saturation into consideration. By using a hyperbolic tangential function in the saturation description, we introduce both the time derivative of controller output and the anti-windup control structure with a feedback loop of the error between the control output and the saturated input. Furthermore, we formulate a linear parameter-varying system to design the gain-scheduled controller. The effectiveness of our proposed method is verified by carrying out experiments of positioning control for a cart and inverted pendulum system.
