Constructive nonlinear anti-windup design for exponentially unstable linear plants

In this paper we give a constructive method for anti-windup design for general linear saturated plants with exponentially unstable modes. The constructive solution is independent of the controller dynamics so that the size of the (necessarily bounded) operating region in the exponentially unstable directions of the plant state space is large. Desirable properties of the closed-loop are formally proved and shown to induce a very desirable behavior on a MIMO example with two exponentially unstable modes.