In this paper, an anti-windup compensation method of I-P control system is proposed. The technique is that tracking error signal is modified in the same sampling time so that it may not saturate control input using the equivalent saturation value of integral controller's output. By this technique, prevention of both the overshoot increase due to the wide-banding and the windup phenomenon caused from the saturation of the control input become possible. The effectiveness of the proposed method is verified through the experimental results for position control of a precision stage.
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