![]() ![]() To correct this, I would apply some sort of modulus to keep the error signal within -PI<=err<=err<180 degrees). Go to solution PID tuning AndrewIons01 Member 05-03-2021 10:43 AM Options Hi All I am working with a PID controller and am having some difficulty with working it. Using this with solely positive angle values will, as you say, cause the controller to never command the system past zero (assuming a perfect controller, anyway). ![]() In the standard formulation of a PID controller, all three controllers (proportional, integral, derivative) use an error signal defined as =. In the past, many of these controllers were analog however, many of todays controllers use digital signals and computers. I think I see what youâre getting at, but if Iâve interpreted your question incorrectly, please clarify. Introduction Currently, more than half of the controllers used in industry are PID controllers.
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