Invalid behavior position controler ?

[FrGe2016]

Question 1 With modification to the example_position.cpp i get results that do not respect the limits joint definition

Test 1 requires faster speed than the velocity limit of 30m/s. (40 m/s) for a position of time from start of 1 second at 30 m. Test 2 moves to a position beyound the joint limit 15m.
for a position of (20 m)

If the controler is not taking care of the joint limits in the joint definition, which mecanism does ?

Question 2

What is the expected behavior of combined command controlers ex: position velocity Is there any commented exemples or documentation ?