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Unread 06-01-2013, 18:06
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AKA: Dheer Mirchandani
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Re: Questions about Encoders and PIDControllers

Quote:
Originally Posted by Ether View Post
Much better :-)



It's not similar for the other terms. The I term can be non-zero at the setpoint. In fact, that's one of the purposes for the I term, to provide a non-zero output at the setpoint (if required).



Yes, feedforward is one way to address that issue.

Another is to use the I term, when controlling speed, like you would use the P term when controlling position.

Yet another is to integrate the output of the PID.


What do you mean by integrate the output? I take calculus and know the concepts behind PID but this wording is confusing me a bit. Could you please provide an example?
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