Kristof
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dad031ee2c
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Enhanced PID algorithm
Enhanced PID algorithm based on the series of blog posts at http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
Specifically:
1. Avoid derivative kickback - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/
2. Allow smooth on-the-fly tuning changes - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/
3. Reset windup mitigation - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-reset-windup/
4. Bumpless initialization - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/
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2013-08-16 10:52:57 +02:00 |
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