In this paper, the optimal anti-windup synthesis proposed in [5] is demonstrated on an experimental mechanical system. A windup-prone controller is first shown to induce severe performance degradation when saturation is hit. According to a linearized model of the mechanical system, static anti-windup compensation is infeasible, hence dynamic anti-windup of order equal to that of the plant is shown to induce performance recovery both in simulation with the linearized and nonlinear model, and in the experimental runs on the physical system.
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