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Mathematical Problems in Engineering
Volume 2014, Article ID 316043, 9 pages
Research Article

An Improved Antiwindup Design Using an Anticipatory Loop and an Immediate Loop

1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
2School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China
3Chinese Society of Astronautics, Beijing 100048, China

Received 13 February 2014; Accepted 13 April 2014; Published 13 May 2014

Academic Editor: Zhengguang Wu

Copyright © 2014 Qing Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We present an improved antiwindup design for linear invariant continuous-time systems with actuator saturation nonlinearities. In the improved approach, two antiwindup compensators are simultaneously designed: one activated immediately at the occurrence of actuator saturation and the other activated in anticipatory of actuator saturation. Both the static and dynamic antiwindup compensators are considered. Sufficient conditions for global stability and minimizing the induced gain are established, in terms of linear matrix inequalities (LMIs). We also show that the feasibility of the improved antiwindup is similar to the traditional antiwindup. Benefits of the proposed approach over the traditional antiwindup and a recent innovative antiwindup are illustrated with well-known examples.