Clamping of a discrete time PI(D) Controller

Simulink thankfully offers a block for a discrete PID controller. It is possible to select the clamping technique for integrator anti wind up. But how does the clapming of a discrete time PID Controller work?

For a continuous time domain, it stops integrating just after the output saturates. But a discrete controller integrates in discrete (bigger) steps. So does the integrator stop integrating after the first sample where it exceeds the limit or does it stop integrating before it would reach saturation?

Thanks in advance!

Answer 1

[Nick Venditti]

Looking under the mask (CTRL+U) of a discrete PID Controller block with clamping on, it looks like the integrator stops integrating after the first sample is read where it exceeds the set limit.