A Design Method of Gain-Scheduled Control System Considering Actuator Saturation

(Experimental Verification for A Cart and Inverted Pendulum System)

Abstract

In this paper we propose a control system design method in consideration of actuator saturation. By applying hyperbolic tangential function to the saturation description, we introduce both the time differentiation of contol input and the anti-windup control structure with feedback of the error between the input and the output of the saturation function. Furthermore, we formulate the 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.