Anti-windup synthesis for nonlinear dynamic inversion control schemes

Guido Herrmann, Prathyush Menon, Matthew Turner, Declan Bates, Ian Postlethwaite

    Research output: Contribution to journalArticlepeer-review

    78 Citations (Scopus)


    A general anti-windup (AW) compensation scheme is provided for a class of input constrained feedback-linearizable nonlinear systems. The controller considered is an inner-loop nonlinear dynamic inversion controller, augmented with an outer-loop linear controller, of arbitrary structure. For open-loop globally exponentially stable plants, it is shown that (i) there always exists a globally stabilizing AW compensator corresponding to a nonlinear generalization of the Internal-Model-Control (IMC) AW solution; (ii) important operator theoretic parallels exist between the AW design scheme for linear control and the suggested AW design scheme for nonlinear affine plants and (iii) a more attractive AW compensator may be obtained by using a nonlinear state-feedback term, which plays a role similar to the linear state-feedback term in linear coprime factor-based AW compensation. The results are demonstrated on a dual-tank simulation example. Copyright © 2009 John Wiley & Sons, Ltd.
    Original languageEnglish
    Pages (from-to)1465-1482
    JournalInternational Journal of Robust and Nonlinear Control
    Issue number13
    Publication statusPublished - 10 Sept 2010


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