Dynamic anti-WindUp for MIMO systems

This paper discusses the question of saturating actuators in a multi-input multi-output (MIMO) control system design. It is shown that direct application of standard anti-windup schemes can lead to loss of closed-loop stability, as well as, the degradation of the directional properties of the system. Consequently, a novel anti-windup scheme is proposed, where the intended procedure ensures stability, accompanied with exact dynamic decoupling in the presence of actuator saturation. In essence, this is accomplished by ensuring that all of the control signals are saturated to the correct value, even-though if they do not saturate at all. Simulation results comparing the difference between the dynamic anti-windup methodology and a non anti-windup scheme are presented.