A general framework for robust anti-windup schemes

A general framework for designing antiwindup control systems is developed. More traditional anti-windup schemes generally suffer from several limitations, including the lack of (a priori) robustness respect to plant uncertainty, and also have a considerable heuristic component. The design method proposed in this paper provides an accurate graphic design procedure that guarantees closed loop global stability, in the presence of saturation-type non-linearities and plant uncertainty. The case of SISO LTI plant is considered.