When the actuator runs out
What happens when the requested voltage exceeds what the motor can receive?
Try it in the current lab
Pin the protected run, switch anti-windup off in the lab note, and watch recovery after the voltage leaves ±12 V.
Open Control effort: the dashed line is requested voltage and the solid line is applied voltage. Toggle anti-windup below the note and compare.
The lab recalculates after a setting changes. Pin a run before changing one variable; the response and control-effort plots share the same replay time. PID experiments also show the P/I/D terms; estimator experiments show measured and estimated states.
What the system is doing
The integrator can keep accumulating during saturation. Anti-windup pauses accumulation when the error pushes farther into a limit.
Find the voltage limit
In Control effort, the dashed trace is requested voltage and the solid trace is voltage applied after the ±12 V limit. The I term remains visible in PID terms. Use the anti-windup button below the lab note to compare the same preset with the feature on and off.