An anti-windup design for linear system with asymptotic tracking subjectedto actuator saturation

This paper deals with asymptotic tracking for linear systems with actuator saturation in the presence of disturbances. Both reference and disturbances are assumed to being to a class which may be regarded as the zero-input re sponses of linear systems. The controller includes an anti-windup term whic h reduces the degradation in the system performance due to saturation. The stability of the overall system is established based on the Lyapunov stabil ity theory. Both state and output feedback solution are given. The proposed scheme is evaluated for a two axis motion control system by simulation.