  We present a novel class of nonlinear controllers that interpolates among
differently behaving linear controllers as a case study for recently proposed
Linear and Nonlinear System Level Synthesis framework. The structure of the
nonlinear controller allows for simultaneously satisfying performance and
safety objectives defined for small- and large-disturbance regimes. The
proposed controller is distributed, handles delays, sparse actuation, and
localizes disturbances. We show our nonlinear controller always outperforms its
linear counterpart for constrained LQR problems. We further demonstrate the
anti-windup property of an augmented control strategy based on the proposed
controller for saturated systems via simulation.
