A Dynamic Anti-windup Scheme for Input-constrained Feedback Linearizable Nonlinear Systems

궤환선형화 가능한 비선형 시스템의 입력제한을 고려한 동적 와인드엎 방지

This paper proposes a dynamic compensation scheme for input-constrained feedback linearizable nonlinear systems to cope with the windup phenomenon. Given a feedback linearizing controller for such a nonlinear system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. This dynamic anti-windup is based on the minimization of a reasonable performance index, and some stability properties of the resulting closed-loop are presented.