Noise sensitivity and stability properties of low gain antiwindup PI-control

Antiwindup feedback (awf) with high gain tends to perform better than with low gain for large deterministic disturbances, but it is also more sensitive to high frequency measurement noise. This is investigated here on a control loop for a dominant first order plant and a basic PI-awf structure, from which the most common forms of PI-aw-regulators can be generated. Both an estimate is given for the steady state control error due to noise, and stability and performance are investigated as functions of the awf gain, and a design and sizing procedure is proposed.