Open the PID loop with anti-windup and press Run:
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A note for control engineers: with Auto-Tune’s gains (Kd = 1.64, N = 61), the D term spikes to Kd·N ≈ 100 at the step, a derivative kick. The ±1.2 limit clips it and anti-windup keeps the integral in check, so the output still settles in 1.1 s with 0.2% overshoot.
0:00 Intro
0:24 P, I and D as separate signals
1:06 A faster integral
1:25 A real actuator has a limit
1:47 Integral windup
2:19 Anti-windup: give the PID the same limit
2:45 Auto-Tune
3:23 Summary
Narration: synthetic voice (Microsoft Azure AI Speech, en-US-AndrewMultilingualNeural).
Every simulation in this video is a real screen recording of BlockWerk.
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