Directional change and windup phenomenon

Abstract: The paper addresses two inherently connected problems, namely: windup phenomenon and directional change in controls problem for multivariable systems. By comparing two ways of performing anti-windup compensation and two different saturation modes a new definition of windup phenomenon for multivariable systems has been obtained, changing definitions present in the literature. It has been shown that avoiding directional change does not have necessarily to mean that windup phenomenon has been avoided too.