A system for limiting input voltage to a power delivery system having regeneration capability, the system comprising: a regulator having a plurality of input variables and at least one output variable, wherein the plurality of said input variables comprises at least one of an input power reference, a drive input power feedback, and a torque current reference, wherein the output variable comprises an output torque reference; and wherein the input power reference is calculated based on an input voltage and a drive controller in communication with the regulator, the drive controller receiving the output variable from the regulator and in response to the output variable using the output variable to control a motor; the system characterized by further comprising: an accumulator in communication with the regulator the accumulator configured to: process a plurality of input signals, to accumulate errors detected in the plurality of input signals, and use the errors to determine what value the regulator outputs as the scaled torque command; wherein, if a difference between an absolute value of a lower limit of the output torque reference and the scaled torque command is greater than a predetermined value, the accumulator is set to an absolute value of the scaled torque command; wherein, if said difference is smaller than the predetermined value, the regulator operates to set the lower limit for the output torque reference. a regulator having a plurality of input variables and at least one output variable, wherein the plurality of said input variables comprises at least one of an input power reference, a drive input power feedback, and a torque current reference, wherein the output variable comprises an output torque reference; and wherein the input power reference is calculated based on an input voltage and a drive controller in communication with the regulator, the drive controller receiving the output variable from the regulator and in response to the output variable using the output variable to control a motor; the system characterized by further comprising: an accumulator in communication with the regulator the accumulator configured to: process a plurality of input signals, to accumulate errors detected in the plurality of input signals, and use the errors to determine what value the regulator outputs as the scaled torque command; wherein, if a difference between an absolute value of a lower limit of the output torque reference and the scaled torque command is greater than a predetermined value, the accumulator is set to an absolute value of the scaled torque command; wherein, if said difference is smaller than the predetermined value, the regulator operates to set the lower limit for the output torque reference. process a plurality of input signals, to accumulate errors detected in the plurality of input signals, and use the errors to determine what value the regulator outputs as the scaled torque command; wherein, if a difference between an absolute value of a lower limit of the output torque reference and the scaled torque command is greater than a predetermined value, the accumulator is set to an absolute value of the scaled torque command; wherein, if said difference is smaller than the predetermined value, the regulator operates to set the lower limit for the output torque reference.