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In this paper, we propose a new anti-windup method with a clear procedure of initialization to avoid vibrations and overshoots in spite of saturation of the control input. This method is based on a single-input single-output 2 degree of freedom model matching control system and by using a switch, a saturated control input and an output are respectively used for updating a reference output and a feedforward input instead of a control input and a reference output; these are not affected by input saturation. By this means, even if the control input is saturated, the state of the reference model corresponds with that of the control object and at the moment the updated control input is not saturated, the output immediately corresponds with the reference output. Furthermore, a procedure to initialize the reference model by which vibrations and overshoots do not occur even if the control input is saturated, is given. This method is suitable for systems in which vibrations and overshoots are taboo, such as tool machines.The effectiveness of the proposed method is verified by numerical simulation.

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