Which outcome arises when a PID controller driving a robotic arm induces excessive integral windup?

💡 Explanation

When integral windup occurs, the integral term in the PID controller accumulates excessively due to prolonged error, causing the control signal amplitude to go beyond realizable actuator constraints so amplifier saturates; halting further motion. Therefore actuator saturation occurs halting movement, rather than oscillations, lag or bearing failure which would arise from different mechanisms.

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