I've two engines to control (one in OL and the other in CL by the PID) using a "dancer" feedback.
The "dancer" has to stay always horizontal (so I've to control the speed of the second engine in the properly way).
When I start the bench, of course I increase the speed of the OL engine using a ramp (the CL engine has the same ramp (exept for a tau ratio) plus the PID contribution).
The PID CV contribution during the ramp, in my opinion, has to be calculated between CV Low/high limit where these limit are dynamically equal to the actual speed of the OL engine, otherwise the CL engine beaviour becomes "nervous".
Best regards
CltOff