PID Timing

[jhersh]

No... it doesn't sound like you are off base. Are you sure the the PID is not time compensated?

[Tom Line]

Well, we've always written our PID's by ourselves. The math is trivial and it's good for the kids to understand where they come from. Not a single paper I've read on PID calculation states as an assumption that the loop needs to be consistently timed. That's why I'm curious if we can improve our PID loops by incorporating a time normalization into the derivative term.