Actuator saturation is probably the most frequent nonlinearity encountered in control applications. Input saturation leads to controller windup, removable by structural modification during compensator realization and plant windup which calls for additional dynamics.

Peter Hippe presents solutions to the windup prevention problem for stable and unstable single-input-single-output and multiple-input-multiple-output (MIMO) systems. The solutions use only standard tools for the investigation of linear systems - state equations, transfer functions, etc. The stability tests are based on...