Quote:
Originally Posted by Oblarg
So, basically, if you're using feedforward, you can make the 'p' gain in a non-integrated velocity controller big enough that the fact that it can't theoretically push the velocity all the way to the setpoint (even as t->infinity) is essentially moot, without running into stability issues?
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I think that's fair. In FRC it is generally acceptable that the velocity servo is oscillating (underdamped) by a few RPM above and below your target-velocity, and in exchange you get a fast response when target velocity changes, with no risk of integral-windup.
Similar thread for those interested:
https://www.chiefdelphi.com/forums/s...d.php?t=152106
Just curious, did your team attempt a velocity servo and wasn't successful?