Anti-windup compensator design considering behavior of controller state

In this paper, we propose a design method of a static anti-windup compensator for good tracking performance. In the previous design methods for the anti-windup compensator, the controller and the plant states have not been considered directly in the L₂ gain performance index. Considering that the windup phenomena are caused by the controller and the plant having badly damped or unstable mode, we introduce a new L₂ gain performance index that contains the controller state and the plant state. Good tracking performance is obtained by tuning the weights on the two states of the performance index, which is demonstrated by two examples.