[Qwuke]

So I am new to PID control theory(and labview altogether), but I want to create rate PIDs for the motors on our talon drive train by grabbing a rate value from an encoder on each wheel. However, in order to make our drive train run smoother I've squared the function, added a deadband, and then adjusted the slopes. To my knowledge, for my PID to work correctly with this new function being applied, I will have to implement gain scheduling and deadband filtering within the PID for this to work.
Take note, I'm a novice to control theory/PIDs, so I apologize if the solution is right in front of me and I haven't taken notice.
If anyone has any idea about this, references or examples, or place to point me to, my team would be honor-bound to you. But seriously I would deeply appreciate some assistance.