Anti-windup feedforward controller design for reference input

In this paper, we propose an anti-windup method for feedforward controller of 2 degree of freedom (2DOF) control by which model matching is done. The proposed method replaces memorized variable of output of reference model in the feedforward controller with controlled variable when input is saturated. It is verified by numerical simulations that satisfactory reference input response is derived by the proposed method even if input is saturated or controlled object has uncertainty.