Simple yet Effective Anti-windup Techniques for Amplitude and Rate Saturation: An Autonomous Underwater Vehicle Case Study

arXiv:2601.01302 · eess.SY, cs.SY · Submitted 2026-01-03 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-01-03

Updated: 2026-10-09

Code: https://github.com/Psarhadi/Rsat-Classic-AW

Terminology

• PID Controller — 8× in this paper · explained in 2 episodes
• Modern Anti-Windup — 6× in this paper
• Robustness — 3× in this paper · explained in 5 episodes
• REMUS Autonomous Underwater Vehicle — 2× in this paper
• Model Predictive Control — 1× in this paper
• Unified Framework — 1× in this paper · explained in 5 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• On the Standard Performance Criteria for Applied Control Design: PID, MPC or Machine Learning Controller?

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