BF: PID Controller (SISO) #1048

fhswf · Sep 10, 2024 · a8d73f2 · a8d73f2
1 parent 0048f8b
commit a8d73f2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/mlpro/bf/control/controllers/pid_controller.py b/src/mlpro/bf/control/controllers/pid_controller.py
@@ -137,7 +137,7 @@ def _compute_action(self, p_ctrl_error: CTRLError, p_action_element: ActionEleme
 
             # anti - windup 
             if self.enable_windup and self.windup_limit is not None:
-                self._integral = max(min(self._integral, self.windup_limit), -self.windup_limit)
+                self.integral = max(min(self.integral, self.windup_limit), -self.windup_limit)
 
             #calculate i term , if Ti not zero
             if self.Ti != 0: