Thread: 2012: Tuning the Jaguar's Speed Control PID Loop
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Unread 14-01-2012, 10:08
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Re: 2012: Tuning the Jaguar's Speed Control PID Loop
Method2: Use a PI control, and tune the I gain the way you would "normally" tune the P gain. Then tune the "P" gain the way you would "normally" tune the D gain.

Why? Because the drivetrain plant does not contain an integrator when the input to the plant is voltage and the output (that you are trying to control) is speed.
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