Output tracking systems subject to actuator saturation and constant disturbance

This paper considers the design of output tracking system subject to actuator saturation and integrator windup. The invariant set and the permissible disturbance set are estimated by an LMI optimization approach. The design of the controller is formulated and solved as an optimization problem with LMI constraints. An iterative LMI approach is proposed to design the anti-windup compensation gain which enlarges the invariant set and permissible disturbance set. Numerical examples are used to demonstrate the effectiveness of the proposed design technique.