Quote:
Originally Posted by GeeTwo
...If M is a bit high (results in a speed greater than the acceptable variation from the desired speed), this would result in the same tiny overshoot followed by a decay ramp* towards a speed greater than that desired.
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You don't ramp "towards a speed greater than that desired". You ramp toward the setpoint S, by reducing (or increasing) Y. When you cross the setpoint, the sign of the error changes, and Y is adjusted.
Quote:
Originally Posted by GeeTwo
The speed will never again cross the desired speed
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Y will be integrated in the proper direction until the sign of the error changes. You will cross the setpoint.