no_name
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On the same subject, let's remind the readers that he never replied to us, what this equation is;
. and it has been a few days since he was asked.
Looks like a general expression for PID controller.
The integral part is to take care of deviations over time. Differential part to react faster to potential changes. Proportional part to minimise present errors.
Kp, Ki and Kd are weighted constants.
The constants chosen are usually balanced to ensure fast enough response to set value, but not too much to cause large overshoot and oscillation.