Anti-windup and the preservation of robustness against structured norm-bounded uncertainty

We consider robustness preserving anti-windup with structured norm-bounded uncertainty. A sufficient condition for the existence of such anti-windup is given, together with an expression for its construction. Existing results in the literature for additive unstructured uncertainty appear as a special case. The so-called IMC (internal model control) anti-windup does not necessarily preserve robustness for the general case