An architecture for design and analysis of high-performance robust antiwindup compensators

In this note, a general framework for the design and analysis of high-performance robust antiwindup (AW) compensators is presented. The proposed framework combines the Weston-Postlethwaite AW scheme with ideas from residual generation and from robust control architectures based on high-performance nominal controllers. It is shown that the framework is well connected to the Youla controller parameterization and to fault tolerant/detection schemes. Furthermore, the proposed framework provides a transparent analysis of the interactions between the different design parameters which allows for a clearer design tradeoff between robust stability and robust performance for the saturated and unsaturated closed loops.