From 41bc38c879afcc185ad4eee83dc5c6743cd6ce4a Mon Sep 17 00:00:00 2001
From: David Forrest <drf5na@gmail.com>
Date: Wed, 22 Feb 2023 18:29:55 -0500
Subject: [PATCH] Update README.txt to .md and add Astrom reference

---
 README.txt => README.md | 2 ++
 1 file changed, 2 insertions(+)
 rename README.txt => README.md (76%)

diff --git a/README.txt b/README.md
similarity index 76%
rename from README.txt
rename to README.md
index 3f2fb63..9e1fa37 100644
--- a/README.txt
+++ b/README.md
@@ -9,3 +9,5 @@
    http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
 
  - For function documentation see:  http://playground.arduino.cc/Code/PIDLibrary
+
+This fork uses back calculation per [Astrom 1989](http://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdf) to manage integral windup.