Linear Multivariable Antiwindup Control Design: Singular Perturbation Approach

Abstract We develop a simple procedure for multivariable antiwindup design and implementation using the theory of singular perturbations. By artificially enforcing two time-scale separation in the antiwindup loop, through the introduction of a parasitic time-constant, we can exploit the additional design degree of freedom for eliminating algebraic loops and for practical implementation of the antiwindup control. The emerging antiwindup structure is similar to existing schemes in the literature but it exposes the significance of an often overlooked design parameter. We demonstrate the effectiveness of the proposed antiwindup scheme via a simulation case study using an ill-conditioned benchmark example.