A 2D side-view car drives along a road whose grade you control, held at a target speed by a live proportional-integral (PI) controller — tune the gains and watch it overshoot, settle, or wind up on a hill.
The proportional term reacts to present error, the integral term erases steady-state offset by accumulating past error, and on a steep hill the actuator saturates — causing integral windup unless an anti-windup clamp is engaged.
Set a target speed, adjust Kp and Ki, then drag the road grade to simulate a hill. Watch the dial, throttle/integral bars, and the live speed-vs-time chart respond.
Most production cruise-control systems use anti-windup logic precisely because a saturated integrator, left unchecked, causes exactly the kind of overshoot you can trigger here by turning the clamp off.