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  • $\begingroup$ 1 Why did you make uI[1]=0 (effectively uI[0] is also made zero immediately afterwards). Do you have a text book reference for this type of anti wind-up implementation? 2 "I don't feel very comfortable with such high derivative terms and low integral" Is that part of the question? It seems to be un related to the anti-wind-up part of the question. 3 why is a condition on u checked for anti-wind-up rather than uI it self? $\endgroup$
    – AJN
    Commented Feb 13 at 15:42
  • $\begingroup$ Re: the high D coefficient - I didn't follow your calculation, but yes I would question it. Likely to amplify noise unnecessarily. $\endgroup$
    – Pete W
    Commented Feb 13 at 16:17
  • 1
    $\begingroup$ @PeteW I've not been asked to take noise into account. $\endgroup$
    – weirdgyn
    Commented Feb 13 at 18:05
  • 2
    $\begingroup$ @PeteW it looks like the OP just asked Matlab, and it coughed up answers where the $1 / \Delta t$ and $\Delta t$ terms were implicit -- if you account for that, then the gains should look a lot more like the time-domain gains. $\endgroup$
    – TimWescott
    Commented Feb 14 at 4:24
  • 1
    $\begingroup$ @weirdgyn - See here: dsp.stackexchange.com/questions/58533/… ... derivative, and even the identity function $y(t)=u(t)$ are both causal and anti-causal. In continuous-time, it's not an issue. In my view it only becomes an issue when you do discretize, since something like $\frac{u[n]-u[n-1]}{T_s}$ most closely approximates $du/dt$ at a point in time a half-sample ago, rather than "now". If I do the analysis in continuous time, and my discrete implementation has sufficient sample rate, I can worry about something else. $\endgroup$
    – Pete W
    Commented Feb 29 at 19:42