An Input–Output Approach to Anti-windup Design for Sampled-Data Systems with Time-Varying Delay

Abstract

A methodology for designing anti-windup compensators is investigated, for sampled-data systems with delays and actuator saturation. More precisely, criteria for the existence of an anti-windup compensator that ensure simultaneously stability and an $$H_{\infty }$$ norm bound in closed-loop are developed, thanks to the use of a three-term approximation of the delays, of the scaled small gain theorem, and of a Wirtinger-based inequality. The criteria are in the form of a set of linear matrix inequalities: an optimization algorithm is proposed to maximize the estimated domain of attraction that can be easily implemented. Some simulation examples are also provided to demonstrate the superiority of the proposed approach.