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Where sat max and satmin are the upper and lower control effort bounds respectively. i_satmin is the value used for saturating the lower bound of the control effort when storing the history of the output. This allows the value of Texas Instruments Inc., 2015 20 the history have negative values which can help avoid oscillations on the output in case of no load. The user can specify it’s own value however it is recommended to use _IQ24(-0.9). Also, note that to preserve maximum resolution the coefficients are saved in Q26 format and the saturation limits are stored in Q24 format to match the output format.
