Static anti-windup scheme for state linearizable nonlinear control systems with saturating inputs

A static anti-windup design for state linearizable nonlinear systems with input saturation is considered in this paper. Based on coordinate and diffeomorphic transform mechanism, we firstly change the original nonlinear system into observable and controllable linear system in the new coordinate system. And then a static controller for the new linear system is presented without considering its input saturation, and an additional dynamic compensator is proposed to account for the input saturation constraint. The anti-windup control criterion and the corresponding regions of stability are derived in the form of quadratic matrix inequality (QMI), which can be changed into linear matrix inequality (LMI) form using the congruent transformation method in matrix. Finally, a numerical example is given to show the effectiveness and feasibility of the proposed method.