Multi-stage Anti-Windup Compensation for Open-loop Stable Plants

We discuss adding a measure of scheduling to the popular Anti-Windup design. The main idea is to develop a scheme in which the Anti-Windup gains depend on how much the actuator command exceeds the saturation bound. The aim is to design and implement more aggressive Anti-windup gains in lower levels of saturation. Global stability and performance are addressed by adding an outer-loop Anti-windup compensation which become active when the system is in higher levels of saturation. We present results for both static and dynamic Anti-Windup gains, along with the convex synthesis LMIs. Benefits of the proposed design method are shown using well-known examples.