7 months ago.

PID - LPC1768

Hi everyone,

From the PID.h file from Aaron Berk, I could not understand the mathematical statement below;

controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));

Why we subtract the last term? Do not we need to sum all terms(P+I+D)?


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