Improving the antiwindup properties of autotuning PID regulators

This manuscript presents an antiwindup technique for industrial regulators, aiming at gaining some control on the characteristics of ´large´ transients (i.e., of transients involving significant control saturation). This is achieved by investigating the interplay between linear, in-the-small tuning rules, and the effects of the antiwindup itself. The proposed scheme is presented in connection with the PID structure, but it can easily be extended to other regulator types