Anti-windup design of output tracking systems subject to actuator saturation

This paper considers the design of output tracking system subject to actuator saturation and integrator windup. The domain of attraction of the output tracking system is estimated by an LMI optimization approach. The design of the optimal controller to enlarge the estimate of the domain of attraction is formulated and solved as an optimization problem with LMI constraints. On the other hand, design by using the anti-windup technique is also explored to enlarge the domain of attraction of a pre-designed closed-loop system under actuator saturation. An iterative LMI optimization algorithm is proposed to compute the anti-windup compensation gain. Numerical examples are used to demonstrate the effectiveness of the proposed design technique