Saturated feedback controllers

[cmichelenstrofer]

Description

This PR

• adds the ability to saturate (symmetric or asymmetric max and min forces) the PTO force from PID controller. Closes Feature request: example of saturated pi controller #269

Type of PR

• New feature

Checklist for PR

• Authors read the contribution guidelines
• The pull request is from an issue branch (not main) on your fork, to the main branch in WecOptTool.
• The authors have given the admins edit access
• All changes adhere to the style guide including PEP8, Docstrings, and Type Hints.
• Modified the documentation if applicable
• Modified or added a new test
• All tests pass
• Reference or close any relevant issues

Additional details

Saturated PI controller has been requested multiple times. See #269

[ryancoe]

@cmichelenstrofer - for the off-diagonal elements, are you doing anything to enforce symmetry? It'd probably be good to do this optionally.

[coveralls]

Pull Request Test Coverage Report for Build 6829198216

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A quick fix for this PR: rebase it; your next report should be accurate.

• 73 of 78 (93.59%) changed or added relevant lines in 3 files are covered.
• 2 unchanged lines in 1 file lost coverage.
• Overall coverage increased (+2.0%) to 93.935%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
wecopttool/pto.py	21	26	80.77%

Files with Coverage Reduction	New Missed Lines	%
wecopttool/core.py	2	93.45%

Totals
Change from base Build 6747823054:	2.0%
Covered Lines:	2478
Relevant Lines:	2638

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💛 - Coveralls

[cmichelenstrofer]

example notebook: saturated_pi.ipynb.zip

[ryancoe]

probably worth a quick meeting to discuss this

[ryancoe]

@cmichelenstrofer - I can't seem to assign you as the reviewer for this, but can you please take a final look at what I've added in test_integration.py and then merge if you're happy?