Abstract
Examines a modified internal model control design method for unstable systems. We consider the reason why internal model control has anti-windup characteristics. From this consideration, we give an anti-windup control design method for systems that are not necessarily stable. In addition the control structure has a similar property to internal model control. This method is a simple expansion of internal model control with control input saturation. In addition, a slightly changed reference input effective for windup is shown. Finally, a numerical example is shown.
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