1. SUPSIDTIProgettazione Controllori Control Wind-up Actuation signal Output signal

2. SUPSIDTIProgettazione Controllori PID controller with Anti-Wind-up Or limitation of output

3. SUPSIDTIProgettazione Controllori Anti-Wind-up through saturated feedback and FIR filter implementation All signals bounded! N(z) and F(z) are numerator and denominator polynomials in z -1

4. SUPSIDTIProgettazione Controllori Anti-Wind-up through saturated feedback and IIR filter implementation F(z) is polynomial in z -1 with well stable poles (inside unit circle) Case F(z)=1 corresponds to previous case. If Anti-windup measure is too fast (actuation signal may jump from bound to bound) slow-down with low-pass filter F(z)

5. SUPSIDTIProgettazione Controllori Anti-Wind-up through saturated feedback for state-feedback controllers All signals bounded!

6. SUPSIDTIProgettazione Controllori Anti-Wind-up through saturated feedback for state-feedback controllers F(z) is polynomial in z -1 with stable poles (inside unit circle)