Quote:
Originally Posted by JesseK
What I hate about PID control is that it allows the guess and check method of control without really coming up with a conclusion of why you tried certain values. It completely eliminates the analysis portion of closed loop feedback -- analysis that could fundamentally improve even the mechanical side of the design.
Aside from that fundamental flaw, yes PID is good enough for FRC. Who has the time to truly model a subsystem in FRC anyways?
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While you can tune PID controllers by trial and error, there are certainly plenty of analysis methods to make your tuning more efficient and at least get you in the right ballpark.
As for modeling subsystems, we do it quite often and find it very helpful.
I haven't yet had the fortitude to do a real full-state feedback controller on a FIRST robot YET, but I see it coming. I should have proposed it this year.