A design procedure of output regulation problems for anti-windup control systems

This paper considers an output regulation problem for a linear time invariant continuous-time system with saturation nonlinearities and/or an anti-windup control system which consists of controlled objects, servocompensators following the internal model principle, and dynamic output feedback, anti-windup and feedforward controllers. This problem is mainly concerned with perfect tracking and/or rejection of exogenous signals generated by some external systems. This paper proposes a convex design procedure which allows us to design dynamic output feedback, anti-windup and feedforward controllers simultaneously based on the existing output regulatable conditions. Our proposed design procedure guarantees a local stability and achieves the desired output regulation performance in a specific state space domain (a domain of quadratic performance). It is pointed out that our derived conditions can be recast as the linear matrix inequality (LMI) conditions permitting the existence of an algebraic loop from the output to the input of the saturation nonlinearities