Anti-windup adaptive PID controller design for systems with input saturation

This paper deals with a design problem of an anti-windup adaptive PID control system for SISO systems. The proposed method utilizes the characteristics of almost strict positive realness (ASPR) of the controlled system. the windup phenomenon will be improved by reducing the magnitude of adaptive gains in integral and derivative action, when the controlled input is saturated. The effectiveness of the proposed method is examined through numerical simulations.