Design of static anti-windup compensator considering controller state

Shunsuke Takamatsu*, Unggul Wasiwitono, Masami Saeki, Nobutaka Wada

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


In this paper, we propose a design method of a static anti-windup compensator in order to improve tracking performance. A new Lz gain performance index that includes not only plant state but also controller state is introduced, and a design procedure based on linear matrix inequality is developed. It is demonstrated by the angular control of a belt-drive system that a good tracking performance is attained by tuning the weights on the states of the performance index.

Original languageEnglish
Pages (from-to)2248-2254
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number769
Publication statusPublished - Sept 2010


  • Anti-windup
  • LMI
  • Robust stability
  • Tracking performance


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