Modified internal model control anti-windup : Some new insights and interpretations

A systematic approach to anti-windup synthesis based on the internal model control structure is proposed for open loop stable input constrained multivariable plants. The anti-windup design is defined solely in terms of the plant's coprime factors without introducing independent dynamics into the closed-loop. The anti-windup synthesis is directly linked to some closed-loop sensitivities which provide insights into the effectiveness of many LMI-based anti-windup techniques.