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I compared different versions of the PID library. I noticed that the sign of the derivative factor changes between the versions. In the code on your website http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
/*Compute PID Output*/ Output = kp * error + ki * errSum **+** kd * dErr;
http://brettbeauregard.com/blog/wp-content/uploads/2011/03/pidalgorithm.png Also includes the addition of the derivative.
v 1.2.1 Here you subtract the derivative.
/*Compute Rest of PID Output*/ output += outputSum **-** kd * dInput;
Quite confusing to me. Since it is negative, won't it counteract the response? Could you explain the logic for this?
Kind regards.
The text was updated successfully, but these errors were encountered:
I think what you are looking for is explained in the following post: http://brettbeauregard.com/blog/2011/04/improving-the-beginner%e2%80%99s-pid-derivative-kick/
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I compared different versions of the PID library.
I noticed that the sign of the derivative factor changes between the versions.
In the code on your website
http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
http://brettbeauregard.com/blog/wp-content/uploads/2011/03/pidalgorithm.png
Also includes the addition of the derivative.
v 1.2.1
Here you subtract the derivative.
Quite confusing to me. Since it is negative, won't it counteract the response?
Could you explain the logic for this?
Kind regards.
The text was updated successfully, but these errors were encountered: