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Unread 04-04-2014, 12:01
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Re: paper: Take-Back-Half Shooter Wheel Speed Control

Quote:
Originally Posted by Ziv View Post
Now, if you instead have

Code:
cval -= (sensorval - goodval) / 2;
which seems to be what you were getting at, then what you secretly have is an integral controller (just the I from PID) with coefficient 1/2.
Yes.

And, just because it's an integrator, and its gain is 1/2, does not make it a TBH algorithm. The hallmark of TBH is the unique way that the output is reset at each zero crossing.


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