Design and Modeling of Anti Wind Up PID Controllers - Complex System Modelling and Control Through Intelligent Soft Computations - page 29

Fig. 20 Input voltage

Fig. 21 Mechanical torque

In this section the design of two control strategy to deal with windup reducing
the integral action and improving the system performance signi cantly. The satu-

ration nonlinearity is implemented by the describing function method simplifying
the design of the proposed control strategies. It is con rmed by an example, that the

standard anti windup SOF controller yields better results than the uncompensated
systems in which the system output is deteriorated by the windup effect. The
standard and H ∞ SOF PID controllers are a perfect option for the control and
compensation of saturated or constrained input MIMO systems.
In the next section, the MIMO counterpart of the control strategy presented in this
section is shown. A discrete time MIMO system is obtained by a static output feed-
back, a PID compensator is selected similar as the continuous counterpart. In this