Saturation
DiscontinuousThe Saturation block implements a limiter or saturation function that clamps the input signal between specified lower and upper limits. This is essential for modeling real-world actuators and systems with physical constraints such as motor voltage limits, control signal ranges, and anti-windup protection.
Mathematical Model
Inputs & Outputs
| Direction | ID | Label | Type | Status |
|---|---|---|---|---|
| → In | in |
Input | number | Required |
| ← Out | out |
Output | number | Output |
Parameters
| Parameters | Label | Type | Default | Description |
|---|---|---|---|---|
lowerLimit |
Lower Limit | number | -1 |
Minimum allowed value |
upperLimit |
Upper Limit | number | 1 |
Maximum allowed value |
Usage Examples
Input range -5 to 5, saturation limits -1 to 1 produces output in [-1, 1].
Remarks & Best Practices
- Asymmetric limits supported (e.g., [0, 1] for single-sided constraint)
- Zero computational overhead; instantaneous response
- Essential for realistic actuator modeling (motor limits, servo ranges)
- Prevents integrator windup in feedback controllers
Related Components
- Gain: Signal scaling (use before saturation)
- Sum: Signal combination
- Derivative: Rate computation