Dynamical anti-reset windup method for discrete-time saturating systems

This paper presents a dynamical anti-reset windup (ARW) method for multivariable discrete-time saturating control systems. With the intention to maintain the behavior of the unsaturated linear system as far as possible, an additional dynamical compensator is explicitly determined for the saturated system. Due to the additional compensator, the state positioning problem of the saturated system is completely resolved. Thus the proposed ARW scheme can provide performance enhancement in the event of saturation. Moreover the proposed method guarantees the total stability of the system. The resulting dynamics of the compensated controller exhibits the dominant part of the unsaturated system which can be seen from generalized singular perturbation theory. A simulation example is included to illustrate the effectiveness of the proposed method