PID control

Not started

Self-directed study

Feedback control theory and practical PID tuning.

Practice in the Flight Lab: Hold the wheel

Subareas

P/I/D term intuitionIntegral windup & anti-windupDerivative filteringFeedforward & gain schedulingState space & frequency responseLQR & estimatorsQuadrotor PD/PID control

What to learn

MATLAB PID videos
Feedback Systems PID chapter
Tune a real loop (project 6)

Resources

Åström & Murray, Feedback Systems ↗fbswiki.org
MIT OCW 16.30 ↗ocw.mit.edu
Coursera Aerial Robotics ↗coursera.org
PID controller (Wikipedia) ↗en.wikipedia.org