A simple antiwindup control based on a PI control with an initial value of the integral state variable

This paper describes the design of a new simple antiwindup control based on a PI control with an initial value of the integral state variable as a design parameter. It is combined a P controller and a PI controller. Before the changeover point, it uses a P controller. It is changed from the P controller to the PI controller after the changeover point. The changeover point is simply defined by using a property of the limit value of the plant input. It can apply not only for a position control but also for a speed control. Although its changeover point is defined simply, it has no overshoot.