Modified anti-windup scheme for PID controllers

An anti-windup scheme for proportional-integral-derivative controllers is presented. The approach is based on the combined use of back-calculation and conditional integration anti-windup techniques. In this way, the disadvantages that can hinder previously proposed strategies are overcome. Specifically, the method can guarantee a satisfactory performance for processes with different normalised dead times, without the tuning of additional parameters being required. Therefore, considering its simplicity, it is highly suitable for implementation in industrial regulators.