Antiwindup compensator synthesis for systems with saturating actuators

Synthesizes nonlinear output feedback dynamic compensators for plants with saturating actuators. The authors´ approach is direct in the sense that it accounts for the saturation nonlinearity throughout the design procedure as distinct from traditional design techniques that first obtain a linear controller for the “unsaturated” plant and then employ controller modification. Whereas most nonlinear controller synthesis techniques require full-state-feedback availability, the authors utilize fixed-structure techniques for output feedback compensation while specifying the structure and order of the controller. In the full-order case the controller gains are given by LQG-type Riccati equations that account for the saturation nonlinearity