In the saturation nonlinearity region, the speed regulator designed on the basis of(integral state prediction control, ISPC) has the excellent anti-windup performance theoretically, and at the same time, guarantees the system performance not affected by load torque. However the influence of the load torque estimated time and integrator time constant are not taken into consideration and the fact that the control system is affected by load torque in the linear region is also neglected. The anti-windup perform...
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