In a discussion at work last week it was mentioned that the controllers we use in the vehicle ECUs often use a combined limit for P and I.
The idea is that I is limited to be never bigger than (L - P). This means that if the controller is already maxed-out in P then there is no I-term windup to be unwound once the setpoint is reached. It seems sensible, and apparently works well. -- atp "Torque wrenches are for the obedience of fools and the guidance of wise men" ------------------------------------------------------------------------------ Forrester Wave Report - Recovery time is now measured in hours and minutes not days. Key insights are discussed in the 2010 Forrester Wave Report as part of an in-depth evaluation of disaster recovery service providers. Forrester found the best-in-class provider in terms of services and vision. Read this report now! http://p.sf.net/sfu/ibm-webcastpromo _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
