All stabilizing controllers, feedback linearization and anti-windup: a unified review

This paper presents a model-based controller realization which, in general, involves a nonlinear compensator and a nonlinear setpoint filter. In the particular case where the model is linear, the class of all stabilizing controllers is recovered. If the model is linear but contains input constraints, the conditioning technique is recovered. And if the model has smooth nonlinear dynamics, a feedback linearizing controller is obtained when possible. Thus, the suggested realization presents a unified framework for many of the common design paradigms.