Finite-gain L2 Stability of PID Set Position Control with Anti-windup Compensation for Euler-Lagrange Systems with Actuator Saturation

Finite-gain L2 stabilization is achieved locally for a system using a PID set position controller and a newly proposed static anti-windup compensation for Euler-Lagrange systems with actuator saturation and external disturbances. In a closed-loop nonlinear system with feedback and input saturation, L2 stability of the Euler-Lagrange systems is guaranteed based on the passivity of anti-windup compensation. The control performance to counter an external disturbance added for the purpose of input saturation is verified by numerical simulations and experiments using a two-link robot arm.