A polynomial approach to the prevention of windup in stable MIMO systems

This paper discusses a frequency domain approach to the prevention of windup in stable MIMO systems. The observer technique is used to prevent controller windup and an additional dynamic element is introduced to prevent plant windup. Based on the coprime matrix fraction descriptions of the transfer matrices of the system and the compensator, a polynomial equation is presented which yields the parameterizing polynomial matrix of the additional dynamic element such that the asymptotic stability of the resulting windup prevention scheme is guaranteed. A simple example demonstrates the windup effects and their prevention.