Anyway, this is a nice fix and a very useful library.

]]>Will let you know when my PID controller works. ]]>

old way: 10*(Integral of error from t=0 to 20)

new way: (Integral of (5*error) from t=0 to 10) + (Integral of (10*error) from t=10 to 20)

Then:

old way: 10*(Integral of error from t=0 to 20)

new way: 5*(Integral of error from t=0 to 10) + 10(Integral of error from t=10 to 20)

You are basically changing the algorithm. I kind of understand it now, but, is it OK to change the algorithm like that?

I know that this may very well be a silly question, but I don’t remember much from my control theory :).

Vasilis.

]]>old way: 10*(Integral of error from t=0 to 20)

new way: (Integral of (5*error) from t=0 to 10) + (Integral of (10*error) from t=10 to 20)

hopefully this helps reveal the difference. again. this is something you only notice if the value of Ki changes. if it stays the same, both methods are identical.

]]>It looks the same arithmetically to me.

I don’t know what am I missing.

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