Quote:
Originally Posted by CryptoStorm
If the PID isn't making setpoint it should still be hunting and/or oscillating.
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For the benefit of those new to PID who may be confused by the above statement, it is not true as a general proposition.
There are many combinations of values for the gains which will cause the system to do exactly as described in the original post:
When we tell the arm to go from up to middle, it gets to the position fine, but when we go from down to middle, it undershoots and only goes about halfway.