Performance enhancement of internal model based anti-windup control for input saturation via loop shaping

Proposed is a new approach for synthesizing an internal model control (IMC) anti-windup (AW) compensator for a stable plant subject to input saturation. Built on the conventional IMC AW scheme which preserves the stability robustness of the unconstrained system, the proposed linear AW compensator improves the performance of the constrained system. The analysis conducted through the loop decomposition of the AW system clearly reveals the impacts of the AW compensator on the closed loop stability and performance. Loop shaping techniques are executed to design the AW compensator. The effectiveness of this approach is demonstrated using a numerical example.