PID Control and motors

The PID loop here features an integral anti-windup that “turns on” the integrator only when the error term is less than some given threshold and a derivative term low-pass  that removes high frequency components that could otherwise lead to degraded system performance. 

Team Members

Students: Pramod Abichandani, David Hamel, Gaurav Naik, Richard Primerano
Advisor: Dr. B. C. Chang