We investigate the effects of deferring the activation of anti-windup by allowing actuators to remain in the saturated regime longer, without any assistance. The basic idea is to apply anti-windup when the performance of the saturated system faces substantial degradation. For this, we present a modified anti-windup scheme along with the appropriate LMIs to obtain the gains. For two examples, we show that the modified anti-windup scheme renders better performance than the immediate application of anti-windup.
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Kia et al. (2009) studied this question.
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