"I am not going to talk about loop tuning....Let's go back to our example of a current controller. Suppose we command u = 1A of current, and it takes a command to our output actuator x = 7.2V to reach equilibrium. Great. Now suppose we want u = 2A of current. To do this x = 14.4V. Now suppose we want u = 10A of current. To do this x = 72V. Now suppose we want u = 1000A of current. To do this x = 7200V. Now suppose we want u = 1,000,000A of current... what? You're telling me we're not going to be able to get a million amperes of current out of our system?

How to Build a Fixed-Point PI Controller That Just Works: Part I

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