Antiwindup compensator synthesis for systems with saturating actuators

Synthesizes nonlinear output feedback dynamic compensators for plants with saturating actuators. The authors' approach is direct in the sense that it accounts for the saturation nonlinearity throughout the design procedure as distinct from traditional design techniques that first obtain a linear controller for the "unsaturated" plant and then employ controller modification. Whereas most nonlinear controller synthesis techniques require full-state-feedback availability, the authors utilize fixed-structure techniques for output feedback compensation while specifying the structure and order of the controller. In the full-order case the controller gains are given by LQG-type Riccati equations that account for the saturation nonlinearity.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>