Use anti-windup schemes to prevent integration wind-up in PID controllers when the actuators are saturated. We use the PID Controller block in Simulink® which features two built-in anti-windup methods, back-calculation and clamping, as well as a tracking mode to handle more complex scenarios.

Achieve bumpless control transfer when switching from manual control to PID control. We use the PID Controller block in Simulink® to control a first-order process with dead-time.

Regulate the speed of an electric motor using two degrees-of-freedom PID control with set-point weighting. We use the PID Controller (2DOF) block in Simulink® as shown below.