PID: Improve the API docs and change default value of antiwindup #36

Job	Run time
pre-commit (humble) / pre-commit	1m 22s
pre-commit (jazzy) / pre-commit	1m 19s
pre-commit (iron) / pre-commit	1m 19s
pre-commit (rolling) / pre-commit	1m 30s
	5m 30s

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