Dynamic event-triggered and self-triggered control for saturated systems with anti-windup compensation

This paper proposes the dynamic output-based event-triggering (ET) and self-triggering (ST) mechanism for linear plants subject to input saturation. Anti-windup compensation is involved to deal with the stability and performance degradation of saturated systems. For the pre-designed anti-windup compensator, a convex optimization criterion is given to guarantee the regional asymptotic stability of the closed-loop system. For the unknown anti-windup compensator, a co-design technique is developed to calculate the anti-windup gain and maximize the region of stability. The minimum inter-event time of ET and ST strategies are explicitly formulated to exclude Zeno behavior. Compared to the static triggering mechanism, the dynamic triggering mechanism proposed this paper reduces triggering times and guarantees asymptotic stability and performance of system simultaneously. Simulations are presented to illustrate the theoretical results.