This chapter introduces the problem of input saturation in systems which are otherwise linear. It is demonstrated how input saturation may cause such systems to exhibit undesirable behaviour. The notion of anti-windup compensators is introduced, followed by a detailed description of a typical anti-windup problem and an effective design procedure. The chapter also emphasizes the role of various nonlinear stability and performance concepts such as Lyapunov stability, sector-boundedness and L2 gain.
|Title of host publication
|Mathematical Methods for Robust and Nonlinear Control
|Place of Publication
|Number of pages
|Published - 2007
|Lecture Notes in Control and Information Sciences