PI-funnel control with anti-windup and its application to speed control of electrical drives

PI-funnel control (i.e. funnel control in combination with a PI controller) in presence of input (actuator) saturation may lead to integrator windup deteriorating control performance. A simple anti-windup strategy is presented and included into the theoretical framework of funnel control for relative-degree-one systems with bounded-input bounded-output stable zero-dynamics, known sign of the high-frequency gain and input saturation. Finally, funnel control and PI-funnel control with and without anti-windup are implemented for speed control of an electrical drive. Measurements results are shown.