Experimental study of nonlinear anti-windup applied to an integrating linear plant

In this paper, we report on the experimental application of an anti-windup strategy recently proposed in the literature. The anti-windup law applies to general Euler Lagrange systems but, when specialized to linear plants become similar to a nested saturations approach. We show its effectiveness on a DC motor connected to a load, which acts like an integrating linear plant. The experimental results show highly desirable performance of the compensated closed-loop.