Design and Modeling of Anti Wind Up PID Controllers - Complex System Modelling and Control Through Intelligent Soft Computations - page 19

Fig. 14 Saturated input with AWC

Fig. 15 Saturated input with AWC

In this section an internal model PID anti windup controller is designed in order
to improve the system performance by reducing the windup effect. As it is noticed,
the controller design is very similar to the continuous time counterpart taking in
account the saturated signal and then this signal is sent through a feedback loop by a
compensator. The main idea behind this controller is to apply the robust controller
characteristics of internal model control in order to obtain the desired gain and time
constants of the PID controller to make the system to follow a step reference signal.
With the control strategies derived in Sects. 3 and 4 a complete design and analysis
of anti windup controllers for continuous and discrete time SISO systems is
deployed. Where it was proved that ef

cient anti windup control strategies can be
derived implementing the internal model control strategy for any kind of SISO
systems while ensuring internal stability and the improvement of the system output
performance.