On Sat, Oct 20, 2018 at 11:37 AM Nicklas Karlsson < nicklas.karlsso...@gmail.com> wrote:
> No not interested in any of the above more than possible what you write > about integration. > > That's fine, it takes a lot of study to move past experimentation with PID. And the literature is full of dead ends. The question I have about putting the integrator at the model error is how that would drive a steady state positioning error to zero. Seems like your measurement and model could be forced to agreement without driving the positioning error to zero. Of course, I don't understand your system at all, so I could be wrong. In general, putting integrators into a system adds instability because it's a marginally stable dynamic element. Even if it does just remain an integrator in the closed loop system, there is always the issue of windup. Eric _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
