Linearization approach for anti-windup synthesis and implementation for DC motor speed control

In this note, we present the method for designing the anti-windup gain for non-linear systems having input saturation. The non-linear systems are considered to be operated at one operating point having the load variations. The non-linear model is linearized around the operating point. Then by using that linearized model, dynamic output feedback compensator that meet the desired performance criterion's is designed by neglecting the input saturation of the system. An existing linear matrix inequality based approach is used for computing anti-windup gain of the linearized model so that the closed loop system will be asymptotically stable. The design is then implemented on the non-linear DC servo motor. The steps including calibration, controller discretization, and implementation were detailed. It is worth noting that the simulation and experimental results demonstrate similar performance. Simulations and experimental results, showing recovery from wind-up, are performed under both without and with load conditions.