The Time Delay Control with Switching Action (TDCSA)
method, which consists of Time Delay Control(TDC) and a
switching action of sliding mode control(SMC), has been
proposed as a promising technique in the robust control
area, where the plant has unknown dynamics with
parameter variations and substantial disturbances are preset.
When TDCSA is applied to the plant with saturation
nonlinearity, however, the so-called windup phenomena are
observed to arise, causing excessive overshoot and
instability. The integral element of TDCSA and the
saturation element of a plant cause the windup phenomena.
There are two integral effects in TDCSA. One is the
integral effect occurred by time delay estimation of TDC.
Other is the integral term of an integral sliding surface. In
order to solve this problem, we have proposed an antiwindup
scheme method for TDCSA. The stability of the
overall system has been proved for a class of nonlinear
system. Experiment results show that the proposed method
overcomes the windup problem of the TDCSA.