Robust anti-windup design for PI control system

This paper presents a loop shape method based on Quantitative Feedback Theory (QFT) for a PI control system in the presence of actuator saturation and potentially large parametric uncertainty. The uncertainty plant is represented by plant template, and the anti-windup structure of proportional-integrate (PI) control system is transformed into its Lur'e equivalent system to analysis its stability. Through the loop shape method, the robust anti-windup compensator is obtained. In addition, an example is given to illustrate the detail of the proposed method. And the comparison result between the proposed method and the antireset windup technique is showed.