A simple anti-windup compensation for modified Smith predictor

For the first-order integrating processes with long delay, a kind of two-degree of freedom modified Smith predictor (2DoF MSP) is analyzed in detail under the actuator saturation. And then, a simple anti-windup approach, without an additional parameter, is to add an extra saturation element to compensate for the adverse effects of the input saturation. The proposed method can make the control signal saturated for a proper length of time without discarding control energy under the nominal condition without load disturbance, so it may improve the control system performance significantly. Under the nominal and model uncertainty cases, the simulation results show that the MSP with anti-windup scheme may achieve good performance