Design of model following anti-windup compensator that minimizes ℒ2 gain

In this paper, a design method of a novel anti-windup compensator that optimizes the L₂ gain performance is given. This compensator is a model following control where the state variable of the controller is controlled so that it may not go far from that of the ideal linear feedback system during saturation. Two design methods are studied, namely, the D-K iteration and a descent method. It is shown that the descent method leads to an effective and efficient technique for the anti-windup compensator design. The performance of the resulting design method is shown via simulation examples.