Abstract
In this work it is described some practical aspects of PI(D) controllers regarding to conditional integration as an alternative to classical reset windup. This contribution concerns to the integral action, which is managed as function of control error sign. The effect due to the action of reset to zero or clear integral action when sign error changes, is a drastic reduction in response overshoot to command inputs for a special type of common industrial control systems among which, are ship steering control. Such strategy take advantages over conventional reset windup of PI(D) controllers in some applications such as feedback control of second order processes with at least, one of the dominant roots located at the origin of complex plane.
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