Anti-windup design with rate and magnitude actuator and sensor saturations

This paper addresses the problem of anti-windup design for linear systems subject to both actuator magnitude/rate saturation and to sensor saturation. Anti-windup design procedures are developed, using both measured and estimated variables, which allow the region of stability of the closed-loop system to be enlarged. The results are derived by modelling the saturated system as a linear system with nested dead-zone nonlinearities. Constructive stability conditions are then formulated by using Finsler´s Lemma. In addition, some discussions are provided regarding the performance measure which could also be optimized.