Anti-windup-based dynamic controller synthesis for nonlinear systems under input saturation

This paper describes the design of dynamic controller and static anti-windup compensator (AWC) for Lipschitz nonlinear systems under input saturation. Global and local AWC-based control schemes for stabilization of the nonlinear systems are proposed, and necessary conditions for feasibility of the control approaches are investigated. A one-step approach for simultaneous design of H"~ controller and AWC by means of linear matrix inequalities (LMIs) is presented herein, which supports multi-objective synthesis to attain stabilization or tracking, robustness against disturbance and noise, and penalization of large and high frequency control signals. This multi-objective synthesis can be accomplished by incorporating design weights, as commonly used in the standard H"~ control theory, to design a performance-oriented anti-windup-based control scheme. LMIs for the global control of the nonlinear systems subject to input saturation are derived by application of a quadratic Lyapunov function, the Lipschitz condition, the global sector condition, L"2 gain reduction, substantial matrix algebra and variable transformation. In order to cope with unstable and oscillatory nonlinear systems, LMI-based local results are established using a local sector condition. Additional conditions are derived, by incorporating properties of the saturation function, to ensure well-posedness of the controller. Two simulation examples are provided to show the effectiveness of the proposed control schemes for control of stable and chaotic nonlinear systems under input saturation.