// SPDX-License-Identifier: MIT
// Generated by EML-lang Solidity backend
// Source module: aerospace_actuator_guard_band
// Source file:   /home/monogate/monogate/forge/examples/actuator_guard.eml
// Functions:     1 (1 @verify-annotated)
// Constants:     0

pragma solidity ^0.8.20;

contract AerospaceActuatorGuardBand {
    /// @notice Formal proof: actuator_command_within_band (MachLib). Compiled from EML-lang.
    /// @dev Pfaffian profile: chain_order=0, cost_class=p0-d4-w0-c0, drift_risk=LOW.
    /// @dev Gas estimate: ~305 gas (PRBMath SD59x18 overrides assumed; run forge gas-bench for the canonical signal).
    /// @param error error (int256)
    /// @param integral integral (int256)
    /// @param deriv deriv (int256)
    /// @param kp kp (int256)
    /// @param ki ki (int256)
    /// @param kd kd (int256)
    /// @param uMin u_min (int256)
    /// @param uMax u_max (int256)
    /// @dev ensures: (uMin <= result)
    /// @dev ensures: (result <= uMax)
    function actuatorCommandWithinBand(int256 error, int256 integral, int256 deriv, int256 kp, int256 ki, int256 kd, int256 uMin, int256 uMax) external pure returns (int256) {
        require((uMin <= uMax), "actuator_command_within_band: requires (uMin <= uMax)");
        return _clamp((((kp * error) + (ki * integral)) + (kd * deriv)), uMin, uMax);
    }

    /// @dev clamp helper -- min(max(x, lo), hi).
    function _clamp(int256 x, int256 lo, int256 hi) internal pure returns (int256) {
        if (x < lo) return lo;
        if (x > hi) return hi;
        return x;
    }

}