Antiwindup analysis and design approaches for MIMO systems

Performance degradation of multiple-input multipleoutput (MIMO) control systems having limited actuators is often handled by augmenting the controller with an antiwindup mechanism, which attempts to maintain system performance when limits are encountered. The goals of this paper are: 1) To develop a method to analyze antiwindup systems to determine precisely what stability and performance degradation is incurred under limited conditions. It is shown that by reformulating limited actuator commands as resulting from multiplicative perturbations to the corresponding controller requests, μ-analysis tools can be utilized to obtain quantitative measures of stability and performance degradation. 2) To propose a linear, time invariant (LTI) criterion on which to base the antiwindup design. These analysis and design methods are illustrated through the evaluation of two competing antiwindup schemes augmenting the controller of a Short Takeoff and Vertical Landing (STOVL) aircraft in transition flight.