Abstract
In this paper, we develop a generalized anti-windup synthesis procedure for saturating internal model control (IMC). Within this framework, the anti-windup design problem reduces to a search over a class of left coprime factorization of the linear internal model controller. An appropriate anti-windup is constructed by solving a set of linear matrix inequalities. As compared to other static anti-windup constructions in the literature, the IMC anti-windup is always feasible with guaranteed closed-loop stability and performance. Using a simulation example, we benchmark the behaviour of the constructed anti-windup with existing state-of-the-art methods.
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