An alternative approach to anti-windup in anticipation of actuator saturation

Matthew C Turner, Jorge Sofrony, Guido Herrmann

Research output: Contribution to journalArticle (Academic Journal)peer-review

5 Citations (Scopus)
310 Downloads (Pure)


Traditionally, an anti-windup compensator is activated when control signal saturation occurs. An alternative approach is to activate the compensator at a level below that of the physical control constraints: the antiwindup compensator is activated in anticipation of actuator saturation. Recent studies have proposed systematic methods for the construction of such anticipatory anti-windup compensators, but a pseudo-LPV representation of the saturated system has been central to these results. This paper approaches the anticipatory anti-windup problem for open-loop stable plants using a ”non-square” sector condition which is associated with a combination of deadzone nonlinearities. The advantage of this approach is that it leads to synthesis routines which bear a close resemblance to those associated with traditional immediately activated anti-windup compensators. A by-product of this approach also appears to be that the arising compensators are better numerically conditioned. Some simulation examples illustrating the effectiveness of anticipatory anti-windup compensators and some comments on their wider use complete the paper.
Original languageEnglish
Pages (from-to)963-980
Number of pages18
JournalInternational Journal of Robust and Nonlinear Control
Issue number6
Early online date1 Aug 2016
Publication statusPublished - 1 Apr 2017


  • Anti-windup
  • L2 gain
  • Nonlinear systems

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