As popular as the application of Proportional Integral Derivative (PID) controller is, issues relating to saturation effects are still being addressed using different techniques. Amongst such techniques are clamping anti-windup technique and back-calculation anti-windup techniques which primary prevent the integral term of the PID control action from reaching saturation. Separate tracking time technique was applied to both cases of anti-windup techniques investigated in this research unlike the conventional tracki…