Feedback control

Proportional, integral and derivative: what each term is for, how to tell from a chart which one you need, how to tune them on a real machine, and what saturation does to all three.

Module U5University7 lessons

1. U5.1 The feedback loop Setpoint, error, controller, plant, measurement: the block diagram and the names.
2. U5.2 Proportional control One gain, the whole trade-off, and the steady state error it cannot remove.
3. U5.3 The derivative term Damping the overshoot, and why D on a noisy signal needs a filter or it is useless.
4. U5.4 The integral term Removing the error that P leaves behind, and the windup that comes with it.
5. U5.5 Tuning Finding the gain where it oscillates, and working back from there to something usable.
6. U5.6 Saturation and windup What a controller should do when the actuator has nothing left to give.
7. U5.7 Project: park it Three loops at once: x, y and heading, all settling together in a tight box.