General Anti-windup synthesis for input constrained nonlinear systems controlled using nonlinear dynamic inversion

A general anti-windup compensation scheme is provided for a class of input constrained nonlinear systems. The controller considered is an inner-loop nonlinear dynamic inversion controller, augmented with an outer-loop linear controller, of arbitrary structure. It is shown that for globally exponentially stable plants, there exists a simple choice of anti-windup compensator ensuring closed-loop stability and guaranteed L2 performance. A framework for synthesising an optimal anti-windup compensator is proposed, based on nonlinear partial differential inequalities. The application of the theory to a dual tank control system simulation exemplifies the performance of the proposed scheme