Problem and its solution for actuator saturation of integrating process with dead time

The modified Smith predictor (MSP) for integrating process with dead time (IPDT) has at least one pole at the origin of s -plane. The integral effect leads to large overshoot and slow settling time when the control signal exceeds the saturation limits of the system actuator. The windup problem in MSP is presented and studied. Based on the two degrees of freedom (2DOF) control schemes presented by Normey-Rico and Camacho, an anti-windup controller (AWC) is proposed. By simulation, significant performance improvement demonstrates the effectiveness of the proposed scheme.