Simultaneous design of AWC and nonlinear controller for uncertain nonlinear systems under input saturation

Muntazir Hussain, Muhammad Rehan, Choon Ki Ahn, Keum Shik Hong, Najam us Saqib

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


This article addresses a novel technique for the simultaneous design of a robust nonlinear controller and static anti-windup compensator (AWC) for uncertain nonlinear systems under actuator saturation and exogenous L2 bounded input. The system is presumed to have locally Lipschitz nonlinearities, time-varying uncertainties (appearing both in the linear as well as nonlinear dynamics and both in the state in addition to the output equations), and external norm-bounded inputs both in the state and the output equations. Several bilinear matrix inequality–based conditions are derived to simultaneously design the robust nonlinear controller and AWC gains for uncertain nonlinear systems by employing the Lyapunov functional, reformulated Lipschitz property, uncertainty bounds, linear parameter-varying approach, modified local and global sector conditions, iterative linear matrix inequality algorithm, convex optimization procedure, and L2 gain minimization. The proposed multiobjective AWC-based dynamic robust nonlinear controller guarantees the mitigation of saturation effects, robustness against time-varying parametric norm-bounded uncertainties, the asymptotic stability of the closed-loop nonlinear system under zero external disturbances, and the attenuation of disturbance effects under nonzero external disturbances. The effectiveness of the proposed AWC-based dynamic robust nonlinear controller synthesis scheme is illustrated by simulation examples.

Original languageEnglish
Pages (from-to)2877-2897
Number of pages21
JournalInternational Journal of Robust and Nonlinear Control
Issue number10
Publication statusPublished - 2019 Jul 10


  • anti-windup compensator
  • dynamic robust nonlinear controller
  • input saturation
  • linear parameter-varying technique
  • uncertain nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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