Windup:

Path: Common/Control

% Implements anti windup compensation.

   Given a state space system

   y[k]   = C*x[k] + D*u[k]                        (1)
   x[k+1] = A*x[k] + B*u[k]                        (2)

   Implements anti windup compensation. This casts the system in the
   form

   y[k]   = sat( C*x[k] + D*u[k] )                 (3)
   x[k+1] = (A-L*C)*x[k] + (B-L*D)*u[k] + L*y[k]   (4)


   {a,b,c,d} may also be in delta form.

--------------------------------------------------------------------------
   Form:
   [a, b, l] = Windup( a, b, c, d, p, sType )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   a                    Controller state transition matrix
   b                    Controller input matrix
   c                    Controller state output matrix
   d                    Controller feedthrough matrix
   p                    Eigenvalues
   sType                State equation type ('Delta' or 'Z')

   -------
   Outputs
   -------
   a                    Plant matrix
   b                    Input matrix
   l                    Output matrix

--------------------------------------------------------------------------

Children:

Common: Control/Acker

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