Velocity PID(F) Best Practices - To Integrate, or Not To Integrate?

[ozrien]

Originally Posted by Oblarg

So, basically, if you're using feedforward, you can make the 'p' gain in a non-integrated velocity controller big enough that the fact that it can't theoretically push the velocity all the way to the setpoint (even as t->infinity) is essentially moot, without running into stability issues?

I think that's fair. In FRC it is generally acceptable that the velocity servo is oscillating (underdamped) by a few RPM above and below your target-velocity, and in exchange you get a fast response when target velocity changes, with no risk of integral-windup.

Similar thread for those interested: https://www.chiefdelphi.com/forums/s...d.php?t=152106

Just curious, did your team attempt a velocity servo and wasn't successful?