Robust Anti-Windup Control and Its Application to Permanent Magnet Synchronous Motor Speed Regulation

This thesis is concerned with the design of anti-windup compensators and similar augmentations to electronic control systems that aid the system to cope with isolated nonlinearities within the closed loop such as actuator saturation. The thesis builds on theoretical contributions in the literature regarding the synthesis of low order dynamic anti-windup compensators by presenting a successful industrial application of these techniques. A range of other anti-windup techniques are described and through simulation and mathematical analysis, the pros and cons of these designs are presented. Some subtle extensions to the recent optimal synthesis routines are also presented that can offer improved flexibility in tuning and greater performance for certain systems. The industrial application chosen is an Electrically Powered Hydraulic Steering (EPHS) system in which complex constraints are applied to the currents flowing in and voltages applied to a three phase Permanent Magnet Synchronous Motor (PMSM) contained within.