For the first-order integrating processes with long delay, a Modified Smith Predictor (MSP) was analyzed when the control signal saturated. If the MSP controller has no anti-windup scheme, the saturation effectively chops off the control input resulting in performance deterioration. Thus, a simple and effective anti-windup scheme, without an additional parameter, is designed for the MSP. Simulation results illustrate that the proposed method may achieve good performance under the nominal and model uncertainty cases.
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