The MRAW Structure Applied to Other Problems
9.1 RATE- AND MAGNITUDE-SATURATED PLANTS
When dealing with plants with both input rate and magnitude saturation, the model recovery anti-windup (MRAW) scheme can be employed to recover the performance of a controller synthesized for the system without input magnitude and rate saturation. From a mathematical viewpoint, input rate saturation can be modeled by augmenting the plant equations, reported here for completeness,
with an additional state equation having the same size as the control input and associated with the following discontinuous dynamics for the new state variable ...