It'd be very beneficial to provide more ways to prevent integral windup, besides the limit of the integral term.
Among others, there are 2 very simple but effective methods: back-calculation (or tracking) and conditional integration (or clamping).
Both are similar in that they modify the integrator behaviour when the command output is saturating. See for example https://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdf for a reference.
Conditional integration is particularly easy to implement : if the output is saturating (i.e. output is beyond output_limits), then we simply skip the integral term update.
It'd be very beneficial to provide more ways to prevent integral windup, besides the limit of the integral term.
Among others, there are 2 very simple but effective methods: back-calculation (or tracking) and conditional integration (or clamping).
Both are similar in that they modify the integrator behaviour when the command output is saturating. See for example https://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdf for a reference.
Conditional integration is particularly easy to implement : if the output is saturating (i.e.
outputis beyondoutput_limits), then we simply skip the integral term update.