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Re: Traction control: How do I tune a PID controller with variable gain?
Quote:
Originally Posted by Tom Bottiglieri
The I term in this controller, as I understand it, exists for situations just like these where an unexpected external force is applied to the base. Your I gain should be very small in comparison to the P gain. (I want to say about 10^3ish smaller, but I could be wrong)
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The main purpose of the I term is for changing the system type and in turn changing the steady state error of the system.
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