| Abstract: | This paper describes the results of introducing an additional dynamic element to an anti‐windup compensator from control quality and stability area anslysis viewpoint. The analyzed system consists of a first‐order plant with time delay and a fractional‐order PI controller, to present the discussed approach. The controller is tuned based on Hermite‐Biehler and Pontryagin theorems. In the paper, the stability analysis and tracking performance are presented based on both simulation and experimental results. The experiments have been performed using Inteco Modular Servo System with performance evaluated on the basis of the selected performance criterion, namely the Integral of Absolute Error, to verify the applicability of the proposed method. The results have proven that use of the additional dynamic element provides a wider range of controller parameters to ensure stability of the closed‐loop system and better tracking performance in comparison to the system without anti‐windup compensation or system with a standard anti‐windup compensator. It is actually the first time that this type of analysis for dynamic element compensation in anti‐windup framework has been presented for fractional‐order systems. In addition, all the obtained results are referred to the experimental data. |
