Further results on static linear anti-windup design for control systems subject to magnitude and rate saturation

In this paper we report on further developments on a novel scheme for the anti-windup compensation of rate and magnitude saturated systems. This scheme, originally proposed by Galeani et al. (2006) allows to rely on tools for anti-windup compensation for magnitude saturated systems also for the case of rate saturation, by way of a suitable model of the magnitude and rate saturation. The novelty in this paper is to show that, for performance improvement, the compensation scheme of Galeani et al. can be modified using a saturated integrator for the magnitude saturation part and only retaining the anti-windup gain for the rate saturation part. This modified strategy is shown mathematically to ensure stability and, on a simulation example, it is shown to induce more desirable closed-loop responses