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Static anti-windup compensator design for locally Lipschitz systems under input and output delays

Hameed, Muhammad Jazib; Rehan, Muhammad; Iqbal, Muhammad; Hussain, Muntazir; Saqib, Najam us; Iqbal, Jamshed


Muhammad Jazib Hameed

Muhammad Rehan

Muhammad Iqbal

Muntazir Hussain

Najam us Saqib


This paper proposes a static anti-windup compensator (AWC) design methodology for the locally Lipschitz nonlinear systems, containing time-varying interval delays in input and output of the system in the presence of actuator saturation. Static AWC design is proposed for the systems by considering a delay-range-dependent methodology to consider less conservative delay bounds. The approach has been developed by utilizing an improved Lyapunov-Krasovskii functional, locally Lipschitz nonlinearity property, delay-interval, delay derivative upper bound, local sector condition, L2 gain reduction from exogenous input to exogenous output, improved Wirtinger inequality, additive time-varying delays, and convex optimization algorithms to obtain convex conditions for AWC gain calculations. In contrast to the existing results, the present work considers both input and output delays for the AWC design (along with their combined additive effect) and deals with a more generic locally Lipschitz class of nonlinear systems. The effectiveness of the proposed methodology is demonstrated via simulations for a nonlinear DC servo motor system, possessing multiple time-delays, dynamic nonlinearity and actuator constraints.


Hameed, M. J., Rehan, M., Iqbal, M., Hussain, M., Saqib, N. U., & Iqbal, J. (2023). Static anti-windup compensator design for locally Lipschitz systems under input and output delays. PLoS ONE, 18(4 April), Article e0283734.

Journal Article Type Article
Acceptance Date Mar 15, 2023
Online Publication Date Apr 11, 2023
Publication Date Apr 1, 2023
Deposit Date Apr 28, 2023
Publicly Available Date May 2, 2023
Journal PLoS ONE
Print ISSN 1932-6203
Electronic ISSN 1932-6203
Publisher Public Library of Science
Peer Reviewed Peer Reviewed
Volume 18
Issue 4 April
Article Number e0283734
Public URL


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Copyright Statement
Copyright: © 2023 Hameed et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

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