Anti-windup: Definitions, Objectives, and Architectures
2.1.1 The unconstrained closed-loop system
The anti-windup problem's starting point is a plant-controller pair that, when connected in feedback without input saturation, behaves in a satisfying manner. This unconstrained feedback loop then serves as something to emulate when trying to specify and solve the anti-windup problem. Figure 2.1 shows this unconstrained closed-loop system. The unconstrained plant is represented by P and the unconstrained controller is represented by K. For now, think of these systems as being linear systems. Eventually, nonlinear plants and controllers will be considered; most of the ensuing discussion applies equally well to that ...