Preventing Integrator Windup In A Control System

Design concept for control system addresses how to prevent control inputs to plant from exceeding electrical limits imposed by mechanical limits of control actuators in plant, and prevent windup in integrators in control system. Concept consists of two parts. First, to rearrange terms of control equation to move integrators into output path of control system. Second, involves limiting inputs to integrators when one control input of plant reaches its limit. Concept applicable to control systems typical of aircraft autopilot systems.