Design of tracking systems subject to actuator saturation and integrator wind-up

Abstract

In the practical application of many design control problems with integral controllers (such as tracking systems), two undesirable side effects can occur : (a) actuator saturation and (b) integrator wind-up. Both of these concepts are examined in this paper and general design guidelines are proposed for the solution to these problems, for high-order, multi-input, multi-output systems.