fn get_p_term_internal(self: @ContractState) -> SignedRay {
            self.p_gain.read() * nonlinear_transform(self.get_current_error(), self.alpha_p.read(), self.beta_p.read())
        }
  old_i_term
                + nonlinear_transform(self.get_prev_error(), self.alpha_i.read(), self.beta_i.read())
                    * time_since_last_update_scaled
 let new_i_term: SignedRay = self.get_i_term_internal();
                multiplier += i_gain * new_i_term;
nonlinear_transform(self.get_prev_error(), self.alpha_i.read(), self.beta_i.read())
                    * time_since_last_update_scaled
-               old_i_term + nonlinear_transform(self.get_prev_error(), 
-               self.alpha_i.read(), self.beta_i.read()) * 
-               time_since_last_update_scaled

+               old_i_term + i_gain * nonlinear_transform(self.get_prev_error(), 
+               self.alpha_i.read(), self.beta_i.read()) * 
+               time_since_last_update_scaled
-               multiplier += i_gain * new_i_term;
+               multiplier += new_i_term;
