Anti-windup design for the controllers of integrating processes with long delay

For several superior controllers of the first-order integrating processes with long delay, the windup problems are analyzed in detail when the control signal saturates. The results show that these controllers have similar characteristics about the process input limitation. And then, a simple and effective anti-windup scheme, without an additional parameter, is designed for these controllers. Simulations run with three main controllers, and the results illustrate that the proposed method may achieve good performance under the nominal and model uncertainty cases.