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The approach presented here follows a completely different path. It starts with a compensator of sufficient order, which is first designed for pole placement. By subsequently modifying the feedback of the observer states and, if necessary, of the system outputs, the conditions for a robust disturbance rejection are satisfied. Thus, the observer technique directly assures windup prevention.<\/jats:p>","DOI":"10.1515\/auto-2024-0117","type":"journal-article","created":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T10:58:27Z","timestamp":1750417107000},"page":"494-502","source":"Crossref","is-referenced-by-count":0,"title":["Alternative observer-based compensator design for robust asymptotic disturbance rejection in view of input saturation"],"prefix":"10.1515","volume":"73","author":[{"given":"Peter","family":"Hippe","sequence":"first","affiliation":[{"name":"Universit\u00e4t Erlangen-N\u00fcrnberg , Erlangen , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"G\u00fcnter","family":"Roppenecker","sequence":"additional","affiliation":[{"name":"Universit\u00e4t Erlangen-N\u00fcrnberg , Erlangen , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2025,6,20]]},"reference":[{"key":"2025062010582083947_j_auto-2024-0117_ref_001","unstructured":"P. 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