An anti-windup design for single input adaptive control systems in strict feedback form

This work presents an anti-windup design method for improving the performance of single input adaptive control systems in strict feedback form with input saturation. By an appropriate modification of the adaptation laws without saturation, excessive adaptation is prevented during an input saturation. A stability analysis and a proof of asymptotic convergence of the output tracking error are provided. The performance of the proposed design is demonstrated through simulations.