Static anti-reset windup method for saturating control systems with multiple controllers and multiloop configuration

Presents an anti-reset windup (ARW) compensation method for saturating control systems with multiple controllers and/or multiloop configuration. The proposed ARW method is motivated by the concept of equilibrium point. The design parameters of the ARW scheme is derived explicitly by minimizing a reasonable performance index. In the event of saturation, the resulting dynamics of the compensated controller reflects the dynamics of a linear closed-loop system. The proposed method guarantees the total stability of resulting control systems under a certain condition