H Antiwindup Design for Linear Systems Subject to Input Saturation

It is known that actuator saturation can lead to deterioration in the performance of the control system and may even lead to instability. Theinvariant set and L2-gain problemsof the linear systemssubjectto actuator saturation areconsidered.Anantiwinduptechniqueisusedtoenlargetheinvariantsetwitha guaranteedprespecie ed L2 gain. The design of the antiwindup compensation gain is formulated and solved as an iterative optimization problem with linear matrix inequality constraints. Numerical examples are used to demonstrate the effectiveness of the proposed design technique.