Modified Anti-windup compensators for stable plants: Dynamic Anti-windup case

This note considers the popular anti-windup design problem for linear systems with saturating actuators. The main contribution of this paper is providing the synthesis LMIs to obtain the gains of the dynamic anti-windup compensator in a structure that delays the activation of the anti-windup. The basic idea is to apply Anti-Windup when the performance of saturated system faces substantial degradation. Benefits of the proposed design method over the immediate activation of the anti-windup are demonstrated using a well-known example.