In this issue, “25 Years Ago” revisits the article “Anti-Windup, Bumpless, and Conditioned Transfer Techniques for PID Controllers,” by Youbin Peng, Damir Vrancic, and Raymond Hanus, in IEEE Control Systems Magazine, vol. 16, no. 4, pp. 48–57, 1996. Below is an excerpt from the article.

中文翻译：

---

[25 年前]

在本期中，“25 年前”重温了由 Youbin Peng、Damir Vrancic 和 Raymond Hanus 在 IEEE 控制系统杂志第 2 卷上发表的文章“PID 控制器的抗饱和、无扰动和条件传递技术”。16，没有。4, pp. 48–57, 1996。以下是文章的摘录。