Integral Anti-Windup for PI Controllers

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Fig. 10: Integrator clamping (e (t) · u (t) > 0) → found to be the best [5][3]<br />

Fig. 10: Integrator clamping (e (t) · u (t) > 0) → found to be the best [5][3] 6

Fig. 11: Preloading ≡ The integrator output i (t) is dynamically (bumpless transfer protection) driven to the offline predetermined value i d [3] 7