%anti_windup_demo
%Uses HD model
num=3e6;
den=[1 157.0796 0];


%Only proportional gain
P=0.036;I=0;S=inf;f=0;
%Run and observe/quantify effect of pulsed disturbance

%Add integral gain
I=0.5;
%Run and observe quick recovery from disturbance
%Observe additional demand on control input

%Add saturation level
S=0.003;
%Run and observe windup phenomenon: uunsat winds up 

%Add anti-windup gain 
f=100;
%Run and observe shorter time spent under saturation
%Observe clamping of uunsat to saturation value.

%In the presence of saturation and disturbance, is it better to use
%I-action + antiwindup or just I=0?
%Simulate using I=0, S=0.008 and compare to last plot.