Quote:
Originally Posted by de_
I suspect a generic PID algorthim is aimed at systems that has largely symetrical responses on either side of the target but we were highly assymmetrical (especially with the anti-backlash) making a single set of tuning parameters hard pressed to do a good job in both directions
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That's where the "gain scheduler" Palardy mentioned comes into play. It changes the tuning parameters based on measured conditions. In your case, the sign of the error would be used to determine which set of parameters (the "going up" or "going down" numbers) to employ.