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Update approach to anti-wind-up in PID.c #4

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Update approach to anti-wind-up in PID.c #4

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15 changes: 5 additions & 10 deletions PID.c
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Original file line number Diff line number Diff line change
Expand Up @@ -32,16 +32,7 @@ float PIDController_Update(PIDController *pid, float setpoint, float measurement
*/
pid->integrator = pid->integrator + 0.5f * pid->Ki * pid->T * (error + pid->prevError);

/* Anti-wind-up via integrator clamping */
if (pid->integrator > pid->limMaxInt) {

pid->integrator = pid->limMaxInt;

} else if (pid->integrator < pid->limMinInt) {

pid->integrator = pid->limMinInt;

}
/* Anti-windup moved below */


/*
Expand All @@ -60,10 +51,14 @@ float PIDController_Update(PIDController *pid, float setpoint, float measurement

if (pid->out > pid->limMax) {

/* Anti-wind-up for over-saturated output */
pid->integrator += pid->limMax - pid->out;
pid->out = pid->limMax;

} else if (pid->out < pid->limMin) {

/* Anti-wind-up for under-saturated output */
pid->integrator += pid->limMin - pid->out;
pid->out = pid->limMin;

}
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