Static anti-windup compensator based on BMI optimisation for discrete-time systems with directional change in controls avoidance

In the paper, a design method of a static anti-windup compensator for systems with input saturations is proposed. First, an antiwindup controller is presented for system with cut-off saturations, and, secondly, the design problem of the compensator is presented to be a non-convex optimization problem easily solved using bilinear matrix inequalities formulation. This approach guarantees stability of the closedloop system against saturation nonlinearities and optimizes the robust control performance while the saturation is active.