The design of feedback controller with nonlinear saturating actuator: Time domain approach

In general, control laws for linear feedback systems are only computational algorithms and several kinds of actuators are usually employed. If the plant is unstable and the actuator saturates, then it is possible that "windup " will occur. In practice most control equipments today use the "AntiReset Windup" (ARW) method to solve this problem, but its design is too dependent on intuition and simulation. In this paper, the sufficient conditions for the design of the ARW control in the multivariable systems from the viewpoint of time domain are given and the Bellman-Gronwall\´s inequality is employed in its formulation. Three kinds of controllers are considered and one design algorithms is derived. A design example that illustrates our results is also presented.