Anti-windup Compensation for Stable and Unstable Systems with Quantized and Saturated Inputs.

It is well known that actuator saturation can cause destabilization and degradation in performance; similar problems are faced when actuation is quantized. This paper proposes the design of an anti-windup compensator for systems with actuators that are limited to a finite number of quantization levels. This combination of discrete level actuation and saturation poses a unique anti-windup problem that has not yet been solved. To surmount this combined issue, an anti-windup compensator is proposed which provides ultimate-boundedness of the system state within a prescribed region, and also guarantees that the state does not stray outside a larger compact set. A numerical simulation example illustrates the effectiveness on a rigid-body system which inspired this work.