This book provides a wide variety of state-space--based numerical algorithms for the synthesis of feedback algorithms for linear systems with input saturation. Specifically, it addresses and solves the anti-windup problem, presenting the objectives and terminology of the problem, the mathematical tools behind anti-windup algorithms, and more than twenty algorithms for anti-windup synthesis, illustrated with examples. Luca Zaccarian and Andrew Teel's modern method--combining a state-space approach with algorithms generated by solving linear matrix inequalities--treats MIMO and SISO systems with equal ease. The book, aimed at control engineers as well as graduate students, ranges from very simple anti-windup construction to sophisticated anti-windup algorithms for nonlinear systems.

• Describes the fundamental objectives and principles behind anti-windup synthesis for control systems with actuator saturation


• Takes a modern, state-space approach to synthesis that applies to both SISO and MIMO systems


• Presents algorithms as linear matrix inequalities that can be readily solved with widely available software


• Explains mathematical concepts that motivate synthesis algorithms


• Uses nonlinear performance curves to quantify performance relative to disturbances of varying magnitudes


• Includes anti-windup algorithms for a class of Euler-Lagrange nonlinear systems


• Traces the history of anti-windup research through an extensive annotated bibliography

Luca Zaccarian is associate professor of control engineering at the University of Rome, Tor Vergata. Andrew R. Teel is a professor in the Electrical and Computer Engineering Department at the University of California, Santa Barbara.

• FrontMatter,
• Contents,
• Preface,
• Arlgorithms Summary,
• Chapter One. The Windup Phenomenon and Anti-windup Illustrated,
• Chapter Two. Anti-windup: Definitions, Objectives, and Architectures,
• Chapter Three. Analysis and Synthesis of Feedback Systems: Quadratic Functions and LMIs,
• Chapter Four. Static Linear Anti-windup Augmentation,
• Chapter Five. Dynamic Linear Anti-windup Augmentation,
• Chapter Six. The MRAW Framework,
• Chapter Seven. Linear MRAW Synthesis,
• Chapter Eight. Nonlinear MRAVV Synthesis,
• Chapter Nine. The MRAVV Structure Applied to Other Problems,
• Chapter Ten. Anti-windup for Euler-Lagrange Plants,
• Chapter Eleven. Annotated Bibliography,
• Index,