An Internal Model Control Based Anti-windup Scheme for Stable Uncertain Plants with Input Saturation

Proposed is a new approach to synthesizing anti-windup compensators for stable uncertain plants subject to input saturation. Built on internal model control (IMC) anti-windup (AW) schemes, which preserve the stability robustness of the unconstrained system, a linear anti-windup compensation improves the performance. A novel structural analysis of the anti-windup system clearly reveals the impacts of the compensator on the stability robustness and the performance. This transparency allows a trade-off between the robustness and performance through the design of the anti-windup compensator. Several simple and effective methods for designing this AW compensator are suggested for the execution of this idea