Proportional - Integral - controller with optional feed-foward and limitation at the output.

When the ouput is limited, the controller cannot bring the control error to zero and the integrator will not stop integrating. To avoid thie WindUp - effect, an Anti-WindUp loop is implemented: The difference between unlimited and limited output is fed back to the integrator's input.

The integral part can be switched off to obtain a limited P-controller.

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