An explicit static anti-windup design for a class of two input two output plants

We consider ill-conditioned two-input two-output (TITO) plants whose singular value decomposition (SVD) is independent of frequencies. For such plants we design a static anti-windup PI controller based on reverse frame (RF) approach. It has also been shown that this design approach results in a closely related controller structure with the static anti-windup controller design based on linear matrix inequality (LMI) optimisation. Furthermore, this simple design approach gives an explicit anti-windup implementation with good robustness properties. The simulation example also shows that this implementation allows independent controller and anti-windup design. The extension of these ideas to higher dimensional systems appears to be problematic at this point.