PID Gain Scheduling/Deadband Filtering For a Non-Linear Output

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PID Gain Scheduling/Deadband Filtering For a Non-Linear Output

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06-02-2014, 21:35

gpetilli

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Re: PID Gain Scheduling/Deadband Filtering For a Non-Linear Output

we typically square the joystick inputs, not the PID outputs. PID is a linear system, which you violate with the squaring. Squaring the joystick (PID setpoint) before the PID changes the driver responsiveness but does not change the PID math. BTW: to square use newjoy= joy * abs(joy) to preserve the sign.

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