Performance enhancement for a class of saturating systems

Sean C. Warnick, Armando Rodriguez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


Current methodologies for designing control systems usually ignore the effects of control saturations. Resulting controllers often produce undesirable behavior such as integrator wind-up, large overshoots, long settling times, and even instability, when implemented on the saturating system. This paper presents a systematic procedure for adapting a nominal controller, designed while ignoring control saturation, to a higher-performance nonlinear controller that explicitly accounts for the saturating nonlinearities while guaranteeing stability. In particular, the Error Governor scheme proposed by Kapasouris, Athans, and Stein [1] is extended for the class of controllers modeled with a feedforward term. The utility of this procedure is demonstrated on the vehicle platooning system introduced by Sheikholeslam and Desoer [5], which uses a nonlinear vehicle model and allows for non-identical vehicles in the platoon. The nominal controller presented for this system is nonlinear and inherently decentralized, thus posing a significant test on the practicality of the proposed method. Performance of the nominal compensator without saturations, nominal compensator with saturations, Error Governor, and Extended Error Governor is compared for a platoon of 15 cars. Results are that the saturating system causes significant wind-up. The Error Governor corrected system can eliminate wind-up at a cost to steady-state performance [3]. The proposed Extended Error Governor, however, eliminates wind-up while delivering the same steady state performance as the original platoon design.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Number of pages5
StatePublished - 1995
Externally publishedYes
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995


OtherProceedings of the 1995 American Control Conference. Part 1 (of 6)
CitySeattle, WA, USA

ASJC Scopus subject areas

  • Control and Systems Engineering


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