Design and Modeling of Anti Wind Up PID Controllers - Complex System Modelling and Control Through Intelligent Soft Computations - page 10

Table 1 Filter and saturation
parameters

Parameter Value

a 0 5

a 1 0.1

ʱ 1

ʲ 0.06

ʔ 100

ʻ 0.9

r 1

Table 2 Parameters with
AW and no AW
compensation

Parameter Value with AW

compensation

Value with no AW
compensation

K c 0.0635 0.0036

˄ 0.9503 33,327.8

i

˄ 1 0.0005

d

Fig. 4 System response with the IMC AWC (upper) and with no AWC (lower)

implemented where a high overshoot, a large settling time and higher oscillations
are shown proving that the system has a better performance when the anti windup
controller is implemented. These results are yielded due to the feedback compen-
sation applied to the PID controller reducing the unwanted effects produced by
windup, in comparison when there is not compensation where the system perfor-
mance is deteriorated due to the increasing in the integrator output when the input
of the system is saturated.
In Fig. 5 the input U for the system with AWC is shown where the input is
generated according to the reference signal. This signal is the non saturated signal
generated by the IMC PID AWC, so the signal follows a designated trajectory
according to the required control input necessary to control the system.