A simple scheduled anti-windup technique

This paper presents a gain scheduled, full-order, anti-windup compensation strategy for LTI systems. The paper makes two contributions. Firstly it shows that, given two point-design anti-windup compensators with differing performance levels and associated regions of attraction, it is possible to interpolate between them to generate a family of compensators with intermediate performance levels and regions of attraction. Secondly, it is shown how this family of compensators can be used to construct a gain-scheduled anti-windup compensator that guarantees stability of the closed-loop system providing the initial states of the system are contained within a certain positively invariant set. The resulting gain scheduled anti-windup compensator is simple to construct and straightforward to implement. The effectiveness of the proposed technique is shown through a simulation example.