Anti-windup controller design for discrete-time control systems

In control systems, if the dynamics in the controller are relatively slow, a is the case with integrators and long-time constant poles, the limitation of the control input due to saturating actuators may result in serious performance degradation and even system instability. This paper presents a two-stage design method for the discrete time control system with saturating actuators. An anti-windup compensator design is proposed based on Astrom and Wittenmarks' control system scheme associated with the filter design concept. The resulting control system can reduce the effect of the windup phenomenon and make the actuator get away from the saturation mode efficiently. The advantage of the proposed method is illustrated in the design example.