New anti-windup structure for magnitude and rate limited inputs and peak-bounded disturbances.

Abstract A new structure for the anti-windup (AW) compensation for rate limited actuation is proposed which is less conservative than structures currently used. For peak bounded disturbances or reference inputs, we develop AW augmentation loops for both magnitude and rate actuator saturation. To reduce conservatism further, the proposed technique is combined with a multi-stage AW loops to obtain different gains for different levels of saturation. [ABSTRACT FROM AUTHOR]