Stability analysis of single loop control systems with saturation and antireset-windup circuits

"Reset-windup" appears when regulators with integral action are used with saturating actuators. Antireset-windup (ARW) circuits are in practice used in most standard control equipment today. Their design is based on intuition and simulation. This paper presents analysis of systems with ARW circuits based on nonlinear stability theory. The analysis gives possibilities to compare the performance of different ARW circuits. It predicts the system response adequately without need for extensive simulations.