PID Control - Chief Delphi

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PID Control

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11-01-2010, 22:38

DMetalKong DMetalKong is offline

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AKA: David K.

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Re: PID Control

Wikipedia has a rather helpful article on the subject. Even has some pseudo-code to look over:

Code:

previous_error = 0
integral = 0 
start:
  error = setpoint - actual_position
  integral = integral + (error*dt)
  derivative = (error - previous_error)/dt
  output = (Kp*error) + (Ki*integral) + (Kd*derivative)
  previous_error = error
  wait(dt)
  goto start

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