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+//Example 9.8
+//Antiwindup compensation for a PI controller.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System Model
+
+//Response of the system
+kp=2;
+ki=4;
+
+//Without antiwindup
+ka=0;
+importXcosDiagram(".\Ex9_8_model.xcos")
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure(0)
+plot(yt.time,yt.values,'m-.')
+figure(1)
+plot(ut.time,ut.values,'m-.')
+
+//With antiwindup
+ka=10;
+xcos_simulate(scs_m,4);
+scf(0)
+plot(yt.time,yt.values)
+exec .\fig_settings.sci; // custom script for setting figure properties
+xlabel('Time (sec.)');
+ylabel('Output');
+title("Integrator antiwindup (a) step response.",'fontsize',3);
+
+
+scf(1)
+plot(ut.time,ut.values);
+exec .\fig_settings.sci; // custom script for setting figure properties
+xlabel('Time (sec.)');
+ylabel('Control');
+title("Integrator antiwindup (b) Control effort.",'fontsize',3);
+zoom_rect([0 -1.2 10 1.2])
+
+//------------------------------------------------------------------
+