Robust design of an anti-windup compensated 3rd-generation CRONE controller

Based on a electromechanical system to be digitally controlled, this paper shows how to add an anti-windup feature to a third-generation CRONE controller. First, the plant perturbed model is analyzed to build uncertainty domains. Then, a robust fractional controller is designed by taking into account small-level signal specification. A rational controller is synthesized from its required frequency response. Finally, to manage windup problem, a nonlinear controller is designed by splitting in two parts the optimal linear controller.