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Motivated by the necessity of suitable state constraint mechanisms within linear time-invariant (LTI) energy-maximising control of wave energy converters (WECs), we present, in this article, an anti-windup (AW) scheme for  state  constraint satisfaction, where the associated unconstrained controller is designed via impedance-matching theory for WEC systems. As in the standard (input) AW scenario, the adopted technique provides a mechanism for &#x2018;informing&#x2019; the (unconstrained) controller when constraints are active, so that appropriate modifications to future control actions can be taken accordingly. The overall adopted AW technique is tested experimentally, on a prototype of the Wavestar WEC system, available at Aalborg University (Denmark). We explicitly demonstrate that the proposed AW scheme is able to consistently respect the defined state constraints, having a mild impact on overall energy absorption performance when compared to its unconstrained counterpart.

An Anti-Windup Mechanism for State Constrained Linear Control of Wave Energy Conversion Systems: Design, Synthesis, and Experimental Assessment