An anti-windup IMC structure with feed-forward compensators based on qualitative analysis

This paper addresses a feed-forward anti-windup structure and its detailed realization method based on qualitative analysis. By adding three static compensators to the Internal model control (IMC) structure, the controller output defects caused by the input saturation can be compensated, which leads to a satisfactory tracking performance and interference elimination. A new anti-windup IMC structure with three feed-forward compensators which can be transformed into IMC-PID controllers is provided, with a design procedure formulated as a constrained optimization problem depended on SCS algorithm. Illustrative examples are given to show the effectiveness and merits of the anti-windup IMC-PID structure based on the qualitative analysis.