Distributed antiwindup compensation for spatially-distributed systems

This paper presents a two-step distributed antiwindup (AW) design for spatially-interconnected systems. Analogous to the distributed controller design, the AW compensator also reflects the distributed nature of the controlled system. A lumped AW scheme is extended here to spatially-interconnected systems. The nonlinear saturation operator can be characterized in a quadratic form using a suitable multiplier. System analysis and controller synthesis conditions, that establish exponential stability and quadratic performance constraints, are formulated in terms of linear matrix inequalities (LMIs) and solved efficiently. The proposed distributed AW scheme is applied to an actuated Euler-Bernoulli beam and validated with simulation results.