2 votes

Discretization of a PID controller

Your gains look perfectly fine. The Tustin approximation* works by noting that $$s \simeq \frac 2 T \frac{z - 1}{z + 1} \tag 1$$ then substituting the expression in $z$ for $s$ everywhere that it ...
TimWescott's user avatar
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2 votes

Discretization of a PID controller

Re: anti-windup Almost there. The essential part of the logic that's worked for me: If the output is saturated to the maximum, then do not increase the integrator variable (but let it fall if it ...
Pete W's user avatar
  • 1,526

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