A design of gain-scheduled servo system considering actuator saturation (experimental verification for a cart and inverted pendulum system)

In this paper, we propose a control system design method in consideration of actuator saturation. By using the hyperbolic tangential function as a saturation description, we introduce both the time derivative of control input and the anti-windup control structure with feedback of the error between the input and the output of the saturation function. Furthermore, we formulate a linear parameter varying system to design the gain scheduled controller. The effectiveness of our proposed method is verified by carrying out experiments of positioning control for a cart and inverted pendulum system.