Design and Modeling of Anti Wind Up PID Controllers - Complex System Modelling and Control Through Intelligent Soft Computations - page 36

Fig. 23 Angular velocities of the DC motor

disturbance torque of 10 Nm is applied to the motor. It is veri ed that in the case

when a SOF and H ∞ SOF the performance of the system is better than when no anti
windup controller is implemented. The overshoot is smaller and a small settling
time is obtained in the first mentioned cases, in comparison when only a PID

controller, with no AW compensation, is implemented. This fact occurs due to the
better controller and compensation characteristics when a SOF and H ∞ SOF PID
anti windup compensators are implemented.
In Fig. 24 the input voltages of the DC motors in the three cases are depicted,
where the voltages for the SOF and H ∞ SOF yields a more regular results than
when no anti windup compensation is implemented. It can be noticed also that the
input voltages are greater in the

first cases than when no AWC is implemented, but

Fig. 24 Input voltage of the DC motor