Antiwindup-aware PI autotuning

This manuscript addresses the problem of “tuning the antiwindup mechanism” of PI(D) controllers, an issue seldom addressed in the literature but yielding improvement and reducing undesired large-transient behaviours if tackled correctly. A previously proposed framework is extended and related to both alternative antiwindup implementations and tuning methods, resulting in more methodological insight on the matter, and guidelines to set up the extension of a given method to include antiwindup. Simulation examples are reported to illustrate the achievable advantages.