Anti-windup via constrained regulation with observers

Jeff S. Shamma*

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

12 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)2481-2485
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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