Design of Anti-Windup Compensators for a Class of Nonlinear Control Systems with Actuator Saturation

This paper addresses the design of static anti-windup compensators for a class of nonlinear systems subject to actuator saturation. Considering that a (possibly nonlinear) dynamic output feedback control law has been previously designed disregarding the saturation, a method to compute a static anti-windup gain which ensures the local stability of the closed-loop system is proposed. The results are based on a differential algebraic representation of rational systems and on a modified version of the generalized sector condition to deal with the saturation effects. From these elements, an algorithm based on the solution of LMIs is proposed to calculate an anti-windup gain to enlarge the region of attraction of the closed-loop system. Moreover, extensions of the results are presented to deal with parameter uncertainty and the presence of energy bounded disturbances. A numerical example is presented to illustrate the proposed method.

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