An anti-windup input–output linearization scheme for SISO systems

A control synthesis scheme for the feedback linearization of single-input single-output nonlinear systems subject to constraints is presented. The approach requires an external, state-dependent saturation element, which translates the actuator bounds to the feedback linearizing control input. Thus the ``linearizingʹʹ properties of the di€erential geometric controller are preserved, and a linear anti-windup can be applied in the outer loop. Conditions for nominal stability are provided. An application to a numerical example is presented.