The PID PDF was a good read. I just implemented the Velocity C form in Codesys. It is a real elegant way to implement a PID without need for doing tricks with the integral accumulator to get bumpless and anti-windup behavior.
The PID PDF was a good read. I just implemented the Velocity C form in Codesys. It is a real elegant way to implement a PID without need for doing tricks with the integral accumulator to get bumpless and anti-windup behavior.