Anti-windup controller synthesis via linear parameter-varying control design methods

We provide a novel, systematic anti-windup control synthesis approach for systems with actuator saturation using a linear parameter-varying (LPV) design framework. The closed-loop induced L₂ gain control problem is considered. Different from previous two-step design schemes, the proposed approach directly utilizes saturation indicator parameters to schedule accordingly the parameter varying controller. Hence, the synthesis conditions are formulated in terms of linear matrix inequalities (LMIs) that can be solved very efficiently. The resulting gain-scheduled controller is nonlinear in general and would lead to graceful performance degradation in the presence of actuator saturation nonlinearities