Control systems (analog) was one of the courses I did poorly in university. And of course, my first job after school was working on (digital) control systems! It turns out digital is a lot easier than analog (to me, at least).
A couple things I discovered:
- When changing setpoints for your controller it helps to slowly ramp them to prevent disturbing the system. Calculate a (end-start)/steps and apply the delta every loop cycle.
- For integral wind-up, I found it more convenient to re-calculate the integral term when hitting a control limit.
A couple things I discovered:
- When changing setpoints for your controller it helps to slowly ramp them to prevent disturbing the system. Calculate a (end-start)/steps and apply the delta every loop cycle.
- For integral wind-up, I found it more convenient to re-calculate the integral term when hitting a control limit.