Robust synthesis for directionality compensation

The authors develop new robust synthesis procedures for directionality compensation for linear exponentially stable multivariable plants incorporating both plant uncertainties and input saturations. The control structure is similar to those of anti-windup controls, but requires the online solution of a low-order convex optimisation. The condition for the existence of a compensator can be expressed as a feasibility problem involving a set of linear matrix inequalities. They demonstrate the effectiveness of the design compared to several schemes using a highly ill-conditioned benchmark simulation example.