Integrator Anti-Windup Design for Servo-Controllers with Position Constraints

Eugene Lavretsky

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arXiv · 2504.12207

Integrator Anti-Windup Design for Servo-Controllers with Position Constraints

Eugene Lavretsky

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Abstract

A control design modification to prevent integrator windup for position saturated servo-controllers is introduced. The design is based on the formalism of Control Barrier Functions and represents an anti-windup integrator modification for position-limited servo-controllers. The method is applicable to Linear Time Invariant Multi-Input-Multi-Output open-loop stable continuous time systems. A flight control application example of the developed anti-windup control solution is discussed.

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Eugene Lavretsky. 2025-04-16. Integrator Anti-Windup Design for Servo-Controllers with Position Constraints. https://arxiv.org/abs/2504.12207

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