Closed louis-potvin closed 4 years ago
take a look at the next post: http://brettbeauregard.com/blog/2017/06/proportional-on-measurement-the-code/
On Sun, Oct 4, 2020, 3:18 PM louis-potvin notifications@github.com wrote:
Hi,
Looking at Brett's blog about Proportional on Measurement http://brettbeauregard.com/blog/2017/06/introducing-proportional-on-measurement/, I see that when used, the gain induced by Kp should be Kp[input(t)-input(init). However, looking at the code, it seems it's actually not doing that, but rather having the same effect as Kd:
Kp Gain: if(!pOnE) outputSum-= kp * dInput;
Kd Gain: output += outputSum - kd * dInput;
Really appreciate if someone could tell me what I'm missing, or if there is indeed a discrepancy between the code and the blog, and in that case, which is right :)
Thanks!
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Thanks for the quick reply Brett. I realize I fundamentally missed the part where the gain of Kp goes in outputSum and therefore is "memorized" between iterations, whereas the gain of Kd does not.
And thanks for the library!
Hi,
Looking at Brett's blog about Proportional on Measurement, I see that when used, the gain induced by Kp should be
Kp[input(t)-input(init)
. However, looking at the code, it seems it's actually not doing that, but rather having the same effect as Kd:Kp Gain:
if(!pOnE) outputSum-= kp * dInput;
Kd Gain:
output += outputSum - kd * dInput;
Really appreciate if someone could tell me what I'm missing, or if there is indeed a discrepancy between the code and the blog, and in that case, which is right :)
Thanks!