A tutorial on modern anti-windup design

In this paper, several constructive linear and nonlinear anti-windup techniques are presented and explained. Two approaches, namely direct linear anti-windup (DLAW) and model recovery anti-windup (MRAW), are described in an algorithmic way, in order to illustrate their main features. Hereafter, theoretical conditions ensuring stability and performance, their applicability, their accompanying guarantees, and their merits and deficiencies are given. The possible extensions to less standard problem settings are also briefly discussed.