Anti-windup compensation method in iterative controller refinement scheme

The paper suggests a solution to the constrained control problem in a certain closed-loop iterative controller refinement scheme. In contrast to the general philosophy-design a linear controller and add an anti-windup compensator —, this paper attempts to provide a simple solution based on the ideal design paradigm: design such a controller that the controller output does not violate its limitations. The existence of both level and rate constraints is assumed.