matlab - Limit output of PID controller by second variable in Simulink -

i have problem need limit output of pid controller, needs "monitor" 2 values.

i have swinging system, pendulum swinging angle phi. want reduce swinging other system, gyroscope. reduction proportional rate of precession angle (alpha)of gyroscope, phi_reduced = phi - a* alpha_dot, proportional gain.

in ideal case monitor difference of phi , 0 error, , use pid controller determine torque controlling gyro angle. implemented shown below in image, , works charm there limiting factor: maximum precession (gyroscope) angle limited 150 degrees... @ moment, without limiting, maximum gyro angle 1500 degrees, problem.

so have limit torque controls gyroscope limit not exceeded. how can without creating 2 pid controllers "fighting" each other (one increasing, 1 decreasing)?

see image clarification

for simple implementation of limits, saturation block, in am304s answer alright. should know do. saturating pid controllers can cause integral wind-up should considered (without having deeper model, whether happen).

to on save side, use saturation option of pid controller block , include anti-wind-up method, if needed.