From a8d73f239008ededdc8958a70b36e0c81e35f1bd Mon Sep 17 00:00:00 2001 From: Amerik Singh Date: Tue, 10 Sep 2024 23:00:39 +0200 Subject: [PATCH] BF: PID Controller (SISO) #1048 --- src/mlpro/bf/control/controllers/pid_controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/mlpro/bf/control/controllers/pid_controller.py b/src/mlpro/bf/control/controllers/pid_controller.py index 79bed0ad7..4b0a5aef2 100644 --- 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: