Mach-DSP User’s Manual
Document Number: MACH-DSP-9021
Page 88
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Increasing the Anti-windup gain to a value that is too high will cause undershoot of the
position, and long settling time.
By carefully adjusting the anti-windup gain, the green trace can be made into a
squarewave, which is desirable. Notice that there is still a small amount of overshoot
present, as indicated by the Position Error signal. However, also notice that the power
amplifier is still being saturated, as illustrated by the yellow blocks in the status area. At
this point, the overshoot can be eliminated by adjusting the Slew-rate limiter, as
discussed in Step W.
