Noise Induced Loss of Tracking in Systems With Saturating Actuators and Antiwindup

Abstract

This technical note is devoted to a recently discovered phenomenon that takes place in feedback systems with saturating actuators, proportionalintegral (PI) control, and antiwindup. Namely, in such systems, measurement noise induces steadystate error in step tracking, which is incompatible with the standard error coefficients. We quantify this phenomenon using stochastic averaging theory and show that the noise induced loss of tracking occurs only if antiwindup is present. An indicator that predicts this phenomenon is derived, and a ruleofthumb, based on this indicator, is formulated. An illustration using a digital printing device is provided.