Discrete-time saturating systems with EPM method

This paper suggests a compensator design method for discrete-time control systems with saturation nonlinearities to cope with the reset windup phenomena. The proposed ARW (anti-reset windup) method is motivated by the concept of the equilibrium point. The design parameter of the ARW scheme is derived explicitly by minimizing a reasonable performance index. The resulting dynamics of the compensated controller exhibits the reduced model form of the unsaturated system which can be obtained by the singular perturbational model reduction method. An example is given to illustrate the effectiveness of the proposed method