Anti-windup synthesis for nonlinear dynamic inversion control schemes

G Herrmann, P Menon, MC Turner, DC Bates, I Postlethwaite

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

75 Citations (Scopus)


A general anti-windup (AW) compensation scheme is provided for a class of input constrained feedback-linearizable nonlinear systems. The controller considered is an inner-loop nonlinear dynamic inversion controller, augmented with an outer-loop linear controller, of arbitrary structure. For open-loop globally exponentially stable plants, it is shown that (i) there always exists a globally stabilizing AW compensator corresponding to a nonlinear generalization of the Internal-Model-Control (IMC) AW solution; (ii) important operator theoretic parallels exist between the AW design scheme for linear control and the suggested AW design scheme for nonlinear affine plants and (iii) a more attractive AW compensator may be obtained by using a nonlinear state-feedback term, which plays a role similar to the linear state-feedback term in linear coprime factor-based AW compensation. The results are demonstrated on a dual-tank simulation example.
Translated title of the contributionAnti-windup synthesis for nonlinear dynamic inversion control schemes
Original languageEnglish
Pages (from-to)1465 - 1482
Number of pages18
JournalInternational Journal of Robust and Nonlinear Control
Publication statusPublished - Sep 2010


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