Neuromorphic Automatic Reset PI Controller for Simultaneous Anti-Windup and Dead-Zone Compensation: Initial Results
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13740Keywords:
Hybrid and switched systems modelling, Event-based control, Anti-windup, Control of switched systemsAbstract
Actuator saturation in systems regulated by proportional-integral (PI) controllers causes integrator ‘windup’ and, consequently, a deterioration in performance. Conventional PI control configurations with automatic reset address this problem by introducing a saturation model that limits the integral action. This article proposes an anti-windup PI control scheme based on neuromorphic control (NC), in which conventional saturation is replaced by a neuron. This element fulfils a dual function: thanks to its pulse-based operation, it inherently imposes saturation when the input exceeds the pulse amplitude, whilst mitigating the effects of the dead zone without requiring explicit modelling. By addressing both non-linearities through a single element, the overall control architecture remains remarkably simple. Simulations results on a direct current (DC) motor demonstrate the simplicity and effectiveness of the proposed strategy in a non-linear actuator with dead-zone and saturation.
References
Åström, K., Hägglund, T., 2006. Advanced PID Control. ISA - The Instrumentation, Systems and Automation Society.
Canudas de Wit, C., Olsson, H., Astrom, K., Lischinsky, P., 1995. A new model for control of systems with friction. IEEE Transactions on Automatic Control 40 (3), 419–425. DOI: 10.1109/9.376053
DeWeerth, S., Nielsen, L., Mead, C., Astrom, K., 1991. A simple neuron servo. IEEE Transactions on Neural Networks 2 (2), 248–251. DOI: 10.1109/72.80335
Serrano-Balbontín, A. J., Mérida, L., Vinagre, B. M., Feliu-Batlle, V., Tejado, I., 2026a. Neuromorphic control of DC motors with static frictiondominated dynamics. IEEE Transactions on Control Systems Technology (In Press). DOI: 10.1109/TCST.2026.3698162
Serrano-Balbontín, A. J., Tejado, I., Mancha-Sánchez, E., Vinagre, B. M., 2023. Introducing fractional order dynamics in neuromorphic control: application to a velocity servomotor. In: 2023 European Control Conference (ECC). pp. 1–6. DOI: 10.23919/ECC57647.2023.10178322
Serrano-Balbontín, A. J., Tejado, I., Vinagre, B. M., 2024a. Fieldprogrammable analog array implementation of neuromorphic silicon neurons with fractional dynamics. Fractal and Fractional 8 (4). DOI: 10.3390/fractalfract8040226
Serrano-Balbontín, A. J., Tejado, I., Vinagre, B. M., 2024b. A neuron-based back-calculation anti-windup strategy: First results. IFAC-PapersOnLine 58 (7), 388–393. DOI: 10.1016/j.ifacol.2024.08.093
Serrano-Balbontín, A. J., Tejado, I., Vinagre, B. M., Aphale, S. S., San-Millan, A., 2026b. Spiking control of a solenoid valve for high-precision pressure regulation in soft robotics. IEEE Control Systems Letters 10, 127–132. DOI: 10.1109/LCSYS.2026.3672133
Visioli, A., 2006. Practical PID control. Springer London. DOI: 10.1007/1-84628-586-0
Yang, Y., Zhu, F., Zhang, X., Chen, P., Wang, Y., Zhu, J., Ding, Y., Cheng, L., Li, C., Jiang, H., Wang, Z., Lin, P., Shi, T., Wang, M., Liu, Q., Xu, N., Liu, M., May 2024. Firing feature-driven neural circuits with scalable memristive neurons for robotic obstacle avoidance. Nat. Commun. 15 (1), 4318.
Downloads
Published
Issue
Section
License
Copyright (c) 2026 Andrés J. Serrano-Balbontín, Enrique Mancha-Sánchez, Inés Tejado, Blas M. Vinagre
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
