Comparative study of the saturated sliding mode and anti-windup controllers

Abstract

The saturation problem is the one of the most common handicaps for applying linear control to real applications, especially the actuator saturation. This paper focus on a comparative study between the classical anti-windup regulator and robust saturated sliding mode control. In the first step, we present a design methodology of SMC of a class of linear saturated systems. We introduce the structure of the saturation, them we perform the design of the sliding surface as a problem of root clustering, which leads to the development of a smooth and non-linear control law that ensures to reach the sliding surface. The second step is devoted to present briefly the anti-windup controller technique. Finally, we use an example of a quarter of vehicle system to give simulation results.