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Instead of clamping the I term directly, clamp the output but recompute I so that the I = out-P-D. This allows greater range of output during large transients where P and D terms may be large, but still prevents windup.
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Instead of clamping the I term directly, clamp the output but recompute I so that the I = out-P-D. This allows greater range of output during large transients where P and D terms may be large, but still prevents windup. Resolves #96.