EA-based Tuning of a PID Controller with an Anti-windup Scheme

안티와인드업 기법을 가지는 PID 제어기의 EA 기반 동조

  • Jin, Gang-Gyoo (Division of IT, Korea Maritime and Ocean University) ;
  • Park, Dong-Jin (Dept. of Control and Instrumentation Engineering, Korea Maritime and Ocean University)
  • 진강규 (한국해양대학교 IT공학부) ;
  • 박동진 (한국해양대학교 제어계측공학과)
  • Received : 2013.02.07
  • Accepted : 2013.07.22
  • Published : 2013.10.01


Many practical processes in industry have nonlinearities of some forms. One commonly encountered form is actuator saturation which can cause a detrimental effect known as integrator windup. Therefore, a strategy of attenuating the effects of integrator windup is required to guarantee the stability and performance of the overall control system. In this paper, optimal tuning of a PID (Proportional-Integral-Derivative) controller with an anti-windup scheme is presented to enhance the tracking performance of the PID control system in the presence of the actuator saturation. First, we investigate effective anti-windup schemes. Then, the parameters of both the PID controller and the anti-windup scheme are optimally tuned by an EA (Evolutionary Algorithm) such as the IAE (Integral of Absolute Error) is minimized. A set of simulation works on two high-order processes demonstrates the benefit of the proposed method.


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