I suggest to take a look to the canonical PID implementation of the Arduino library. It includes a simple but effective anti-windup mechanism: http://brettbeau

I suggest to take a look to the canonical PID implementation of the Arduino library. It includes a simple but effective anti-windup mechanism: http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/ http://brettbeauregard.com/blog/2011/04/improving-the-beginn...