Anti-windup synthesis for guaranteed L2 performance

We consider the problem of anti-windup compensation based on coprime factorizations, for asymptotically stable plants with an input saturation nonlinearity. We build on a stability criterion for the nonlinear system which addresses L₂ performance, and an associated H_∞-based synthesis method which is guaranteed a priori to satisfy this criterion. A state-space parametrization of all solutions to this synthesis problem is derived; one particular low-order sub-optimal solution is then used to illustrate some of the useful properties of the method.