Multivariable Anti-Windup Controller Design using H2/H∞ Multiobjectives

In this paper an approach for robust anti-windup compensation design for multivariable controllers based on the characterization of H2-H∞ norms as Linear Matrix Inequalities (LMI) is presented. The method consider a mix of H2-H∞ performance indexes on the transfer functions of the disturbances to the controlled output, and of the actuator output signal to the controller output signal. The controller and the compensation gain are obtained by numerical solution of the LMIs system. The robustness is considered by assuring the closed loop performance, spite of unknown changes on the actuator saturation limits.1