A control-barrier-function-based anti-windup law for position-saturated MIMO LTI servo-controllers is derived analytically, guaranteeing bounded integrator states and closed-loop stability for open-loop stable plants.
Über die Lage der Integralkurve n gewöhnlicher differentialgleichungen,
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Integrator Anti-Windup Design for Servo-Controllers with Position Constraints
A control-barrier-function-based anti-windup law for position-saturated MIMO LTI servo-controllers is derived analytically, guaranteeing bounded integrator states and closed-loop stability for open-loop stable plants.