Change symbol used for anti-windup gain

Issue #56 resolved
Richard Murray repo owner created an issue

On 14 Nov 2018, at 6:53 , Karl Johan Astrom wrote:


Have made a slight modification of stability of anti-windup schemes and example, one small thing I would have a slight preference to change $k_\text{f}$ to $k_\text{t}$ because it is called a tracking gain, but I let you decide, global change is necessary.


Comments (4)

  1. Richard Murray reporter

    Reverted back t o$k_\text{t}$ in commit 8cee139.

    Comments to Karl via e-mail:

    We are already using k_f for the feedforward gain in the state feedback work, so I think we probably want to avoid that particular symbol.

    Having said that, I am not that big a fan of k_t since it doesn’t really link to anything (we don’t use the term “tracking gain” in the text => the ’t’ is not that natural). A couple of options:

    • We could use some other symbol, like k_a or k_{aw} (for antiwindup). This might be in conflict with what is used in the standard PID literature, though.

    • We could change to k_f and just note the conflict with the state space notation. Is there something that ‘f’ stands for that we should point out so that students can remember it?

    • We could leave as is (k_t).

    For now I am included to either leave as k_t or change to k_a (but only if you think this won’t cause confusion).

  2. Richard Murray reporter

    There is now a macro \awsub that should be used for the anti-windup subscript. This currently expands to \text{aw}.

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