Add article of anti-windup

[noguchi-takahiro]

Abstract

Add article of anti-windup

Context

We want to add the article of anti-windup into the AMDC docs. PR #90 implements this but not merged yet.

Approach

1. Read this article that Takahiro drafted.
2. Some images are not rendered in GitHub page. To view the image nicely, follow steps outlined here. Takahiro can help this, likely during lab hour.
3. See this PR and feedback. See Takahiro properly address their feedback.
4. Request review and merge.

[mhmokhtarabadi]

I went through the article and reviewed some parts of it. The only thing is that I wasn't convinced with the example we were using for showing the effectiveness of the Advanced clamping method, and I came up with another one (See this comment).

@noguchi-takahiro will review this comment.

[mohamed-dek1]

@Daehoon-Sung, will do a review on this article during lab hours.

• Add Integrator Anti-Windup Article #90

[Daehoon-Sung]

I went through the article, and it looks good to me. Thank you @mhmokhtarabadi, @noguchi-takahiro

[noguchi-takahiro]

Thank you @Daehoon-Sung. I assigned you as a reviewer of this PR, can you check it and officially approve it?

[Daehoon-Sung]

Hello Professor @elsevers . We are waiting for your review. Could you leave feedback later here? Thank you Professor.

[noguchi-takahiro]

@elsevers @Daehoon-Sung @mhmokhtarabadi can we check this PR during today's lab hour or even @elsevers's office hour after that?

[Daehoon-Sung]

I am available. Thank you @noguchi-takahiro.

[noguchi-takahiro]

We did not have a chance to do this today due to this issue. Let us do this on 2/13.

[elsevers]

@noguchi-takahiro and @Daehoon-Sung, I think we should try to talk about this in office hours instead of at lab hours. Here are my comments from ~1 month ago.

Integrator Anti-Windup - AMDC Platform - ELS notes.pdf

I am not sure that the example problem in the first set of results is really capturing an wind-up issue -- this is one of the key items I wanted to discuss with you.

[noguchi-takahiro]

Thank you.

I am not sure that the example problem in the first set of results is really capturing an wind-up issue -- this is one of the key items I wanted to discuss with you.

The first example intended to introduce why anti-windup is necessary, rather than discussing the windup problem. As you commented, showing the output of the P and I controller will help explain that wind-up issue. I agree to discuss this.

I think we should try to talk about this in office hours instead of at lab hours.

I also think it makes sense to schedule a separate time for this, with Daehoon and me, as I imagine students would prioritize their ECCE things this week. This was how we got the previous encoder offset article merged effectively.