Input Limitations ● magnitude limitation ● rate limitation u>u max max max max u <u<i <1 min max at min at au u< min min mIn at where u and ur are also referred to as the controller output and the real process input, respectivelyl magnitude limitation           min min min max max max ; ; ; u u u u u u u u u u u r l rate limitation                  min min min max max max ; ; ; v t u v v t u u v v t u v t u r where u and ur are also referred to as the controller output and the real process input, respectively