Anti-windup via constrained regulation with observers

Jeff S. Shamma*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

45 Scopus citations


A method is presented for the output-feedback control of discrete-time linear systems with hard constraints on state and control variables. Prior work has shown that optimal controllers for constrained systems take the form of a nonlinear feedback law acting on a set-valued state estimate. In this paper, conventional state estimation schemes are used. A nonlinear control law is derived which views the state estimation error as a disturbance. The resulting control law is then used in conjunction with the conventional observer, rather than set-valued observer, to achieve the desired constrained regulation. The significantly reduced real-time computations come at the cost of restricting the controller structure and thereby introducing possible conservatism in the achievable performance. The results are specialized to the problem of anti-windup for systems with control saturations. A "measurement governor" scheme is introduced that alters plant measurements in such a way to improve performance in the presence of controller saturations.

Original languageEnglish (US)
Pages (from-to)261-268
Number of pages8
JournalSystems and Control Letters
Issue number4
StatePublished - Jul 20 2000
Externally publishedYes


  • Anti-windup
  • Constrained regulation
  • Saturation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Computer Science
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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