Quote:
Originally Posted by JGurnow
P and I aren't that hard to implement with some testing. D is hard to wrap your mind around a lot of the times as a newer programmer.
P helps make sure you get near your target, and decelerate as it approaches it
I makes sure you reach your target but overshots and undershots if gains are incorrect.
D is hard to explain.
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In a nutshell:
P gives you
fast dynamic response.
I gives you
steady-state accuracy.
D allows P to be set to a higher gain for even better dynamic response. (D can remove some of the overshoot caused by high P values).
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