Design of PID Anti-Windup System Based on QFT

This paper addresses the anti-windup design for PID control systems with significant parametric uncertainty. Actuator saturation, a common nonlinearity in practical systems, can degrade performance and destabilize the closed-loop system, especially when integrators are present. By leveraging Quantitative Feedback Theory (QFT), we propose a robust anti-windup compensator that ensures stability and performance under saturation and parameter variations. The uncertain plant is represented using templates, and the anti-windup structure is analyzed via its Lur'e equivalent system. A detailed example demonstrates the effectiveness of the proposed method, highlighting its advantages.