Scheduled static Anti-windup augmentation synthesis for open-loop stable plants

This note considers adding a measure of scheduling to the popular Anti-windup design for linear systems with saturating actuators. The main idea is to develop a scheduling scheme in which the anti-windup gains used depend on how much the actuator command exceeds the saturation bound. We present preliminary results for static Anti-windup gains, along with the convex synthesis LMIs, for the case of having two levels of saturation: moderate and severe. Benefits of the proposed design method over the traditional single gain Anti-Windup compensation are demonstrated using a well-known example.