An anti-windup design for the asymptotic tracking of linear system subjected to actuator saturation

Deals with asymptotic tracking of linear systems with actuator saturation in the presence of disturbances. Both reference inputs and disturbances are assumed to belong to a class which may be regarded as the zero-input response of a linear system. The controller includes an anti-windup term which reduces the degradation in the system performance due to saturation. The stability of the overall system is established based on the Lyapunov stability theory. The proposed scheme is evaluated for a two axis motion control system by simulation