Braun, PhilippBhardwaj, AbhishekBrentari, MirkoZaccarian, LucaSaveriano, Matteo2025-05-232025-05-230005-1098http://www.scopus.com/inward/record.url?scp=85200601566&partnerID=8YFLogxKhttps://hdl.handle.net/1885/733752169Leveraging recent results on bounded stabilization of linear plants using shifted equilibria, we propose a novel anti-windup scheme for linear input-saturated plants with (asymmetric) saturation limits. We show that, with open-loop plants involving a continuum of equilibria, the proposed anti-windup solution provides an unbounded estimate of the basin of attraction, thereby overcoming typical limits of classical solutions. We also report on experiments performed on a segway-like vehicle, where the controller effectively displaces the segway between any two locations, due to unboundedness of the basin of attraction.M. Saveriano is supported by the European Union under NextGenerationEU PRIN 2022 Prot. n. 2022WS29WP 002 . Research supported in part by the MUR via grant STARLIT CUP E53D23001130006 , number 2022ZE9J9J and by the ANR via grant OLYMPIA , number ANR-23-CE48-0006 . This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor Rapha\u00EBl M. Jungers under the direction of Editor Sophie Tarbouriech. The authors would like to thank Luca Santoro for the technical support during the experiments. A. Bhardwaj and P. Braun are supported by the CIICADA Lab. M. Saveriano is supported by the European Union, project acronym INVERSE, grant number 101136067. Research supported in part by the MUR via grant STARLIT CUP E53D23001130006, number 2022ZE9J9J and by the ANR via grant OLYMPIA, number ANR-23-CE48-0006. This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor Rapha\u00EBl M. Jungers under the direction of Editor Sophie Tarbouriech. The authors would like to thank Luca Santoro for the technical support during the experiments. A. Bhardwaj and P. Braun are supported by the CIICADA Lab.enPublisher Copyright: © 2024 The Author(s)202410.1016/j.automatica.2024.11183085200601566