Technical solutions are described for preventing controller windup in a motor control system. An example system includes a first anti-windup module that receives a commanded voltage and a limited voltage command. The limited voltage command is applied to an electric motor, where the first anti-windup module generates a first modified current command by modifying a current command that is applied to the motor control system. The modification is based on a ratio of the commanded voltage and the limited voltage command. The system further includes a second anti-windup module that receives the commanded voltage and the limited voltage command. The second anti-windup module generates a second modified current command by modifying the first modified current command. The modification based on a difference between the commanded voltage and the limited voltage command.