pid/windup

A scenario of the PID controller, from tools/trace/scenarios/pid/windup.hpp.

✓ pass

• The clang run (clang 18.1 optimized) matches the committed trace.
• The gcc run (gcc 13.3 optimized) matches the committed trace.

Shown on

These players show the same trace, with panels chosen to explain it:

• Why does a saturated integral make the loop slow to recover? (How the PID Controller Works)
• Does the loop recover at once when the setpoint comes back within reach? (PID V&V Plan)

Every channel

pid/windup: every channel 1× real time

response [0] [1]

setpoint setpoint

command [0] [1]

integral [0] [1]

t = 0.000 s / 8.000 s

Keys (with the player focused): Space play/pause · ← → one sample (Shift: ten) · Home/End · [ ] speed

8 s of the control/pid scenario windup.hpp, 801 samples every 0.01 s. The panels plot every channel that changes: response, setpoint, command, integral. 4 events are marked. Pass criteria: BB-T1 recovery_time_to_within_0.02 <= 0.2 s.

1. t = 0.00 s setpoint 1.5, beyond the actuator's reach
2. t = 2.00 s setpoint 0.5, within reach
3. t = 2.09 s anti-windup: within 0.02 of 0.5, 0.09 s after the drop
4. t = 4.40 s no anti-windup: within 0.02 of 0.5, 2.40 s after the drop

• ✓ passBB-T1 recovery_time_to_within_0.02 = 0.088 s (<= 0.2), computed by the scenario harness

Block control/pidScenario tools/trace/scenarios/pid/windup.hppSeed 0dt_sim 0.001 s · dt_trace 0.01 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

Constant over the run

• actuator_limit = 1

All scenarios