Integral windup occurs when an integral term is used in a PID controller and the output becomes unstable (i.e., integral term building up drastically) over time.
How to prevent or reduce integral windup
- Capping the integral sum
- Decaying the integral sum over time
- Restricting integral action to a certain band around the setpoint (target state)
- Understand the source of steady-state error and integrate the knowledge into the feedforward term