A new saturation control technique is proposed to design multiobjective and robust anti-windup controllers for linear systems with input saturations. Based on the characterization of saturation nonlinearities and modeling uncertainties via integral quadratic constraints (IQCs), this method considers a mixed H2/H∞ performance indexes while maintaining dynamic constraints on the controller. The analysis and synthesis conditions are presented in terms of scaled linear matrix inequalities (LMIs). The proposed control algorithm can improve the performance of the input-constrained system while also guaranteeing robustness with respect to the modeling uncertainties. Finally, a numerical
example is given to illustrate the effectiveness of the developed techniques
