An anti-windup method for a class of uncertain MIMO systems subject to actuator saturation with LADRC

In this paper, an LMI-based anti-windup approach is proposed for a class of uncertain multiple input multiple output (MIMO) systems subject to actuator saturation with linear active disturbance rejection controller (LADRC). A modified linear extended state observer (MLESO) is presented to deal with the actuator saturation and the observation error is proved to be bounded. Meanwhile, local asymptotic stability of the closed-loop system is achieved and in the meantime estimate of the basin of attraction is obtained through formulating anti-windup gain matrix Kc. Furthermore, estimate of basin of attraction of the closed-loop system is maximized through solving a convex optimization problem. Finally, numerical examples are provided to illustrate the effectiveness of this method.