ANTI-WINDUP CONTROLLER PARAMETERIZATIONS
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Following a linear controller design, an anti-windup compensation is a popular approach that may be taken to deal with input saturation. There have been many anti-windup techniques proposed. Based on a transfer function parameterization of the resulting anti-windup controller, these antiwindup techniques may be classified into two categories, which may be called 1-degree of freedom (1-DOF) and 2-degree of freedom (2-DOF) parameterizations. Using newly known equivalence between a multivariable nonlinear algebraic loop and a constrained quadratic programming, two kind parameterizations of some existing anti-windup compensations are explained.