Anti-windup control for MIMO system using timescale transform

Most of the inputs of actual plants have the limitations of variation range. These limitations may be due to physical restrictions on the actuators. It is well known that the effects of actuator saturation cause the deterioration of control performance called windup phenomena. In this paper, a novel anti-windup strategy for multi-input multi-output (MIMO) systems subject to actuator saturation is proposed. The method is based on the notion of timescale transform. Some simulation and experimental results are presented to show the effectiveness of the proposed method.