Abstract
This paper proposes an anti-windup design technique for systems which contain two sources of nonlinearity, namely actuator saturation and a quadratic nonlinearity in the plant state equation. It is shown how a nominal nonlinear dynamic inversion controller can be augmented with an anti-windup compensator of a form similar to that which is popular in linear anti-windup compensation. It is shown further how the free parameters of this compensator can be chosen, using linear matrix inequalities, in a way in which the region of attraction of the closed-loop compensated system is enlarged. A numerical example illustrates the effectiveness of the proposed technique.
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