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To prevent this, integrator wind-up is limited by the anti-integrator wind-up
function. A small wind-up is allowed to avoid the risk of small oscillations of the
controller output, close to its limit. The size of the allowed integrator wind-up is
determined by the size of the control deviation and the integration time of the
controller. This is to initially achieve a fast response from a maximum (or
minimum) value of the controller output
