Description
Clamp a requested output to supplied bounds and return its signed residual.
Control terms depend on error sign, units, sample timing, saturation direction and state conventions. Hysteresis retains state between thresholds, while deadband mapping and output clamping describe different operations. A negative loop-sign product or small scalar derivative does not establish closed-loop stability or safe operation.
Clamp a requested output to supplied bounds and return its signed residual.
When to use this tool
Use Actuator Saturation Residual when you already have requestedOutput, lowerLimit, upperLimit and need to clamp a requested output to supplied bounds and return its signed residual.
How to use the tool and how it works
- Enter requestedOutput, lowerLimit, upperLimit. Use the units and conventions below.
- Run the tool. Correct any format, range, or cross-field input error before interpreting the output.
- Read appliedOutput, unappliedResidual. Use the output convention below.
Require lowerLimit<=upperLimit; applied=max(lower,min(upper,requested)), residual=requested-applied.1
| Input field | Meaning and units | Accepted input |
|---|---|---|
| requestedOutput | Requested Output | Required. Finite number. |
| lowerLimit | Lower Limit | Required. Finite number. |
| upperLimit | Upper Limit | Required. Finite number. |
| Output field | Interpretation | Returned shape |
|---|---|---|
| appliedOutput | Applied Output | Required. Finite number. |
| unappliedResidual | requestedOutput-appliedOutput, opposite to the back-calculation saturated-minus-raw sign. | Required. Finite number. |
{
"input": {
"requestedOutput": 12,
"lowerLimit": 0,
"upperLimit": 10
},
"output": {
"appliedOutput": 10,
"unappliedResidual": 2
}
}Limitations and assumptions
- Equal limits are accepted. Bounds are supplied rather than validated as safe, and no physical actuator, rate limit, dynamics or full anti-windup update is modeled.
- Inputs must satisfy both the field types and the cross-field conditions above. Invalid input causes an error; a successful false flag or documented placeholder is a different result.
- Numeric calculations use binary floating point unless exact decimal-integer arithmetic is explicitly stated. No hidden measurement tolerance or decimal rounding is added; nonfinite or out-of-contract results are rejected. Numeric signed-zero results are exported as zero.
Alternative or Complementary methods
Use a complete plant, controller, actuator and timing model with verified operating constraints for control decisions. Check interactions among saturation, integrator state, gains and delays; individual algebraic terms do not tune a controller or validate system stability or safety.
References
Similar or alternative tools
- Integrator Backcalculation Single Term
Calculate one supplied back-calculation integrator-correction term.
- Control Error Deadband Edge Distance
Calculate signed error beyond a symmetric supplied deadband.