Abstract
AbstractA general anti‐windup (AW) compensation scheme is provided for a class of input constrained feedback‐linearizable nonlinear systems. The controller considered is an inner‐loop nonlinear dynamic inversion controller, augmented with an outer‐loop linear controller, of arbitrary structure. For open‐loop globally exponentially stable plants, it is shown that (i) there always exists a globally stabilizing AW compensator corresponding to a nonlinear generalization of the Internal‐Model‐Control (IMC) AW solution; (ii) important operator theoretic parallels exist between the AW design scheme for linear control and the suggested AW design scheme for nonlinear affine plants and (iii) a more attractive AW compensator may be obtained by using a nonlinear state‐feedback term, which plays a role similar to the linear state‐feedback term in linear coprime factor‐based AW compensation. The results are demonstrated on a dual‐tank simulation example. Copyright © 2009 John Wiley & Sons, Ltd.
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