Simple Globally Stabilising Anti-Windup Designs for Systems with Rate-Limits

Abstract

This paper develops an anti-windup scheme for stable linear systems subject to rate-limited control inputs. The main contribution of the paper is a simple condition that guarantees the existence of a family of globally stabilising anti-windup compensators. The approach is a natural development of an existing, tried-and-tested scheme, with the supplemental property of global asymptotic stability. It is also shown that IMC-like anti-windup compensators appear as special cases of the more general design procedure and, moreover, that these compensators guarantee external, as well as internal, stability. An example illustrates the results.