Conditioning technique for controllers with time delays

The so-called conditioning technique has been shown to be a powerful antiwindup and bumpless transfer method. It gives a way to take into account, by appropriate design of the controller, any discrepancy which can occur between the actual control variables and the desired control variables. However, the original version of this method is restricted to the case where the controller has no time delay. The authors propose a modified version of the conditioning technique that can handle the case where the controller has a general time-delay structure