A UNIFIED FRAMEWORK FOR THE STUDY OF ANTIWINDUP DESIGNS

We present a unified framework for the study of linear time-invariant (LTI) systems subject to control input nonlinearities. The framework i s based on the following two-step design paradigm: 'design the linear controller ignoring control input nonlinearities and then add anti-win dup bumpless transfer (AWBT) compensation to minimize the adverse effe cts of any control input nonlinearities on closed loop performance'. T he resulting AWBT compensation is applicable to multivariable controll ers of arbitrary structure and order. All known LTI anti-windup and/or bumpless transfer compensation schemes are shown to be special cases of this framework. This unification of existing schemes for AWBT compe nsation under a general framework is the main result of the paper.