Adaptive anti-windup protection of cascaded inner and outer control loops

A control system with cascaded inner control loop and an outer control loops having adaptive anti-windup protection, the control system comprising:

• a control system including a controller having an cascaded inner control loop and the outer control loop;
• a control device responsive to the inner control loop;
• a plant responsive to the control device and the outer control loop;
• wherein the controller is configured to:
• receive an inner control loop feedback signal indicative of a response of a device controlled by the inner control loop;
• calculate an inner control loop request such that, it would cause saturation of the device controlled by the inner control loop;
• determine outer loop anti-windup request limits based at least in part on the inner control loop request and kinematic relationships between the control device and the plant;
• modify the outer loop anti-windup request limits if the device controlled by the inner control loop operates at saturation;
• and
• provide the outer loop anti-windup request limits to a controller of the outer control loop.