The proposed nl-PID control can be extended to handle input saturation and anti-windup mechanisms by incorporating additional features into the control law. To address input saturation, a mechanism can be introduced to limit the control signal within a specified range. This can prevent the control signal from exceeding certain bounds, thus avoiding saturation of the actuator. Anti-windup mechanisms can also be implemented to mitigate the effects of integrator windup, which occurs when the integral action accumulates error beyond the saturation limits. By incorporating anti-windup strategies, such as integrator clamping or back-calculation, the nl-PID control can effectively handle situations where the control signal is saturated, ensuring stability and performance even in the presence of input constraints.