In order to prevent the problems by using classical Anti-windup (AW), the state tracking AW design is presented.

针对传统的AW设计的问题，该文采用基于状态跟踪的AW设计方法。

This feature maintains transfer accuracy by restricting windup during torque, yet retains full protective flexibility.

此功能通过限制转让保持在扭矩上发条的准确性，但保留了完整的保护的灵活性。

Way back in 1495, Leonardo da Vinci designed what was probably the first robot - an automated suit of armor with a windup crank.

回到1495年，列奥纳多·达芬奇设计了也许是世界上第一台机器人——一整套用曲柄发条驱动的自动盔甲骑士。

We mainly studied the design of three attitudes controller and the anti-windup control for helicopter with actuators saturation in this paper.

最后，本文对直升机的执行器饱和问题进行了抗饱和控制器设计方法的研究。