In this paper, an internal model control based anti-windup compensator (AWC) is designed for nonlinear systems subjected to time-varying delay and input saturation. By using Lyapunov Krasvoskii Functional, less conservative linear matrix inequality (LMI) based delay-dependent stability condition is derived by utilizing the information of delay. Triple integral Lyapunov Functional is used for finding the gains of AWC to guarantee the closed loop stability of the system and reduce the conservatism. The saturation nonlinearity is taken into account by using sector condition. Finally, the efficacy of proposed approach is shown by numerical examples.
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