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Windup prevention for MIMO systems in the frequency domain

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Input saturation can have an undesired influence on the transients of the closed loop system and it can even lead to an unstable behavior. Controller windup is caused by badly damped or unstable modes in the compensator and controller windup is due to fast dynamics of the closed loop system. In a two-step approach one can first prevent controller windup by the so-called observer technique and if, in addition, there exists the danger of plant windup one adds an additional dynamic element to prevent it. There also exists a one-step approach that prevents controller and plant windup at the same time. This paper shows how both approaches to windup prevention can be designed directly in the frequency domain without recourse to time domain arguments. A simple example demonstrates the windup effects and their prevention.
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