Error Governor (EG) deals with the problem of dynamically modifying the feedback error driving a controller having bounded control signals, for preventing controller or actuators saturation, avoiding integrator and/or slow dynamics windup and preserving the nominal linear controller behaviour. In this paper, an optimisation-based EG scheme is proposed for discrete-time Proportional–Integral–Derivative (PID) controllers driving Single-Input Single-Output (SISO) plants. The PID controller is considered in state-space form, and this formulation is used to pose the EG problem as a constrained quadratic program (QP). Because the QP problem is subject to inequality constraints related to controller saturation, in order to use the proposed scheme in real-world applications, it should be necessary to consider appropriate algorithms for efficiently solving the optimisation problem. An efficient way to efficiently compute the solution of the EG problem is presented, reducing the computational effort required to solve the EG QP for using the proposed scheme in real control loops with high sampling rate. An analysis of control performance and computational burden is provided, comparing in simulation studies the optimal EG scheme performance with respect to control results provided by saturated PID with and without anti-windup action.

误差调节器 (EG) 处理动态修改驱动具有有界控制信号的控制器的反馈误差的问题，以防止控制器或执行器饱和，避免积分器和/或缓慢的动态饱和并保持标称线性控制器行为。在本文中，提出了一种基于优化的 EG 方案，用于驱动单输入单输出 (SISO) 设备的离散时间比例-积分-微分 (PID) 控制器。PID 控制器以状态空间形式考虑，该公式用于将 EG 问题作为受约束的二次程序 (QP) 提出。由于 QP 问题受到与控制器饱和相关的不等式约束，为了在实际应用中使用所提出的方案，应该有必要考虑合适的算法来有效地解决优化问题。提出了一种有效计算 EG 问题解的有效方法，减少了求解 EG QP 所需的计算工作量，以便在具有高采样率的实际控制回路中使用所提出的方案。提供了控制性能和计算负担的分析，在模拟研究中比较了最佳 EG 方案性能与饱和 PID 提供的控制结果，有和没有抗饱和作用。