Improving the basic PID control algorithm (Kevin Lynch)

L-comp: Limiting the maximum value of the integral term eint is called "integrator antiwindup." (You are preventing the integrator from "winding up" to a large value.) In terms of the maximum control effort u available from the actuator and the integral gain Ki, what might be a reasonable choice for the maximum value of eint? (Think about it; there is no single right answer, and in fact integrator antiwindup can be implemented in a number of different ways.)