PID with encoder

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Originally Posted by Alan Anderson

A very lightly loaded motor is going to be extremely difficult to tune for speed control, unless (as you discovered) you limit the power. What really works best is limiting the acceleration so the system is not as prone to oscillation. You can do that in software by limiting the rate of change of motor power, or you can do it in hardware by adding inertia.

Do you have any suggestions on how to software limit the acceleration?