added maxIntegral value to pid controller

source/RobotAPI/libraries/core/PIDController.cpp

@@ -127,7 +127,7 @@ void PIDController::update(double deltaSec, double measuredValue, double targetV
     if (!firstRun)
     {
         integral += error * deltaSec;
-
+        integral = math::MathUtils::LimitTo(integral, maxIntegral);
         if (deltaSec > 0.0)
         {
             derivative = (error - previousError) / deltaSec;

source/RobotAPI/libraries/core/PIDController.h

@@ -52,6 +52,7 @@ namespace armarx
         //    protected:
         float Kp, Ki, Kd;
         double integral;
+        double maxIntegral = std::numeric_limits<double>::max();
         double derivative;
         double previousError;
         double processValue;