Robust Antiwindup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications

Muntazir Hussain, Muhammad Rehan, Choon Ki Ahn, Muhammad Tufail

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)


This paper presents the robust nonlinear dynamic antiwindup compensator (AWC) design for nonlinear systems with parametric uncertainties and one-sided Lipschitz nonlinearities under actuator saturation. A decoupling architecture for a full-order AWC is proposed for the case of parametric uncertainties. AWC synthesis scheme is derived by employing the quadratic Lyapunov function, the notion of quadratic inner-boundedness, the one-sided Lipschitz condition, sector condition, and L2 gain minimization. An algorithm, based on the convex routines, by employing the cone complementary linearization, recursive computation, and a bilinear term resolving approach is provided for obtaining the AWC parameters. In contrast to the existing nonlinear AWC designs, our results provide a remedy to the input saturation for a widespread class of nonlinear systems and can effectively deal with the parametric uncertainties. The suggested AWC methodology is employed to compensate windup in the buck-boost converter and one-link flexible robot with revolute joint.

Original languageEnglish
Article number8316873
Pages (from-to)9706-9716
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number12
Publication statusPublished - 2018 Dec


  • One-sided Lipschitz condition
  • parametric norm-bounded uncertainty
  • quadratic inner-boundedness
  • robust antiwindup compensator(AWC)
  • saturation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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