Windup:
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Given a state space system
y[k] = C*x[k] + D*u[k] (1)
x[k+1] = A*x[k] + B*u[k] (2)
Implements anti windup compensation. This casts the system in the
form
y[k] = sat( C*x[k] + D*u[k] ) (3)
x[k+1] = (A-L*C)*x[k] + (B-L*D)*u[k] + L*y[k] (4)
{a,b,c,d} may also be in delta form.
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Form:
[a, b, l] = Windup( a, b, c, d, p, sType )
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Inputs
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a Controller state transition matrix
b Controller input matrix
c Controller state output matrix
d Controller feedthrough matrix
p Eigenvalues
sType State equation type ('Delta' or 'Z')
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Outputs
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a Plant matrix
b Input matrix
l Output matrix
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Children:
Common: Control/Acker