For the feedback controller design , under the condition of that the noise and disturbance had been eliminated through disturbance observer , an anti - windup state feedback controller is proposed to solve the problem in which most of the existing anti - windup schemes can not guarantee the asymptotic closed - loop stability even for open - loop stable systems subjected to actuator saturation 對于反饋控制器設計,考慮了系統的物理約束即驅動飽和的影響,在系統的量測噪聲和外部擾動已經通過擾動觀測器減弱的條件下,提出了一種抗漂移的狀態反饋控制器設計方法。仿真結果表明所提方法的有效性。