Discrete-time anti-windup: Part 1 — Stability and performance

The anti-windup problem is formulated in discrete-time using a configuration which effectively decouples the nominal linear and nonlinear parts of a closed loop system with constrained plant inputs. Conditions are derived which ensure an upper bound on the induced l2 norm of a certain mapping which is central to the anti-windup problem. Results are given for the full-order case, where a solution always exists, and for static and low-order cases, where a solution does not necessarily exist, but which is often more appealing from a practical point of view.