This paper considers the synthesis of static anti-windup (AW) compensation within the internal model control (IMC) AW framework for stable plants subject to input saturation. Built on the conventional IMC AW scheme which preserves the stability and the stability robustness of the unconstrained system, the proposed static AW compensation improves the constrained system performance. L2 gain performance of the constrained system is considered for the static AW controller synthesis, resulting in a linear matrix inqualitiy. The effectiveness of this AW scheme is demonstrated by comparison with two AW methods from the literature through using two numerical examples.

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