A robust anti-windup controller design for motion control system with asymptotic tracking subjected to actuator saturation

This paper deals with asymptotic tracking of motion control systems subjected to actuator saturation in the presence of plant uncertainties and external disturbances. Both reference inputs and disturbances are assumed to belong to a class which may be represented as the zero-input response of a linear system. The controller includes an anti-windup term which reduces the degradation in performance during the saturation period. The stability of the overall system is established based on the Lyapunov stability theory. A simulation example is given to show the effectiveness of the proposed controller