A nonlinear modification for improving dynamic anti-windup compensation

This paper presents a simple modification which can be made to a pre-designed dynamic anti-windup scheme in order to improve its performance. Roughly speaking, the modification enables the dynamic anti-windup compensator to act more like a static anti-windup compensator in certain circumstances. In particular, the modification enables the output of the compensator to decay more quickly than if it were absent, thereby effecting a swifter recovery of linear behaviour. The modification is therefore suitable for - and indeed motivated by - applications where the original anti-windup compensator contains slow poles, resulting in a potentially lengthy recovery of linear behaviour. The paper describes in detail the modification and presents conditions under which it is able to preserve stability.