Anti Windup PID Control of Discrete Systems Subject to Actuator Magnitude and Rate Saturation: An Iterative LMI Approach

This paper investigates the simultaneous design of PID controller and Anti Windup gains for linear systems under magnitude and rate saturation. Thereby, the saturation is included in convex hulls and an iterative LMI approach is used to solve bilinear matrix inequalities (BMIs). To ensure stability, a quadratic Lyapunov function is used. With the proposed optimization task, the decay rate is maximized. Two Anti Windup strategies are presented and compared to each other in two examples: a stirred tank and the F/A18 HARV aircraft.