Hold the wheel

Duty is delayed 160 ms through the driver, then the wheel coasts toward 115 RPM at full duty. Holding 100 RPM takes about 87% duty after the error is gone. Proportional-only lets go as the error shrinks, so it finishes low. Integral supplies that holding duty. Derivative is taken on the measurement, so it damps a fast rise and does not kick on the step.

Run the step. A pass is overshoot under 12%, inside ±5% within 4 seconds, and a final error under 2 RPM. Anti-windup freezes the integrator while the command is pegged and the error still wants more.