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Re: Tuning PID
Your initial problem is not that surprising. For an arm with a large angular displacement, the gravity torque is directed and proportional to the cosine of the arm's angle to the horizontal. This is going to give very different behavior up vs down. As stated above, tune P (and possibly I) so that the oscillation center is correct, then increase D to dampen the oscillations. P and I may require minor mods after increasing D, but probably not too severely.
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