Compensating saturation in feedback control systems by excess error storage

BROADLY speaking, there are two types of saturation in a servo system: (1) sustained saturation, and (2) transient saturation. As an example of sustained saturation, the value of a ramp input may exceed the maximum speed of the servomotor when referred to identical basis. The only solution then is a trivial one, changing the servomotor. On the other hand, the transient saturation is by far more important and interesting technologically, and will be the subject of the present study.