ROBUSTIFICATION OF STATIC AND LOW ORDER ANTI-WINDUP DESIGNS

In this paper an approach for improving the robustness of static and low order anti-windup compensators is introduced. These types of anti-windup compensators are typically designed to recover performance in the face of windup but can result in loss of performance (including stability) for the closed loop in the face of uncertainty. The proposed approach improves the anti-windup design by incorporating an additional robustifying compensator which is active when uncertainty is present in the system. An appealing practical feature of the scheme is that, for the static anti-windup case at least, the number of additional states is kept to a minimum.