andy pugh wrote: > In a discussion at work last week it was mentioned that the > controllers we use in the vehicle ECUs often use a combined limit for > P and I. > > The idea is that I is limited to be never bigger than (L - P). This > means that if the controller is already maxed-out in P then there is > no I-term windup to be unwound once the setpoint is reached. > > Hmmm, limits on P and I make a lot of sense, but what is L? Maybe settable parameters would be better for these limits?
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