Multi-stage anti-windup for LTI systems with actuator magnitude and rate saturation

We consider systems with actuator magnitude and rate limitations, and assume there are high performance compensators with highly desirable properties as long as the actuator limitations are not violated. A multi-stage anti-windup (AW) scheme is presented that provides stability and performance measures, for commands with known bound. More critically, it uses different gains for different levels of saturation, allowing for more aggressive anti-windup gains when the command signals are moderately above the actuator limitations. The benefits are shown through an illustrative example.