Scheduling in anti-windup controllers: Output feedback case

We present results for incorporating a measure of scheduling in a form of anti-windup augmentation scheme. This is achieved by keeping a nominal linear controller as long as possible and relying on a family of controllers with decreasing authority, once the system leaves the small signal regime. The scheduling is to override the nominal controller. The emphasis is on providing performance guarantees, even for open loop unstable plants, though design of invariant sets and similar stability concepts are also possible. The guaranteed performance measures are local, in the sense that they depend on peak bounds on the disturbance, which are assumed to be known. The main idea is demonstrated through an example with an unstable plant.