Use of constrain(..., -outMax, outMax) -> shouldn't this be constraint(..., outMin, outMax) ? #55

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1. Dlloydev commented on Jan 4, 2023

   

   Dlloydev

   on Jan 4, 2023

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   The purpose of using -outMax is to allow unwinding the integral accumulator by an amount that's limited equally for both positive and negative directions when the controller output is saturated. The anti-windup code was inspired from here.

   Test results:

   
2. Repository owner locked and limited conversation to collaborators on Jan 6, 2023
3. Dlloydev

   converted this issue into a discussion #60 on Jan 6, 2023