dsp in pid regulators
Recently, I have been developing a PID controller class for my Qt projects. During implementation, I encountered a very interesting problem from the field of signal theory that I believe is worth sharing. A classic PID controller works in fixed time steps dt. At each step it compares the current process value with the setpoint, considers the previous value and computes the output. And right here the first serious problem shows up - the inertia inherent in real-world measurement system. ...