C#带遇限削弱积分的增量PID

   //增量式PID
    public class INCPID
    {
        double kp;
        double ki;
        double kd;

        double min;         /*PID输出最大值*/
        double max;         /*PID输出最小值*/

        double err_z;       /*上次误差*/
        double err_zz;       /*上上次误差*/

        double deltaUp;
        double deltaUi;
        double deltaUd;

        double up;
        double ui;
        double ud;

        double _out;         /*PID本次输出*/

        double T;           //控制周期

        //构造函数
        public INCPID(double kp, double ki, double kd, double max, double min,double T)
        {
            this.kp = kp;
            this.ki = ki;
            this.kd = kd;
            this.max = max;
            this.min = min;
            this.T = T;

            this.err_z = 0.0;       /*上次误差*/
            this.err_zz = 0.0;       /*上上次误差*/

            this.deltaUp = 0.0;
            this.deltaUi = 0.0;
            this.deltaUd =