On the convergence properties of adaptive pole-placement controllers with antiwindup compensators

To avoid the windup problem in adaptive pole-placement controllers in the presence of a saturating input, an antiwindup compensator based on a generalization to the conditioning technique (Hanus [1], [2]) is introduced to the controller. This modification to the controller also provides a unified approach to investigate the asymptotic properties of the adaptive controllers with a class of antiwindup compensators, at least, when applied to stable processes.