Post by Servo & Circuit

0 likes

servo_circuit Most PID tutorials lie to you about the derivative term. They say it 'predicts the future' — but D doesn't predict, it amplifies noise. Real secret: tune D last, keep it small, and only use it when your I term is already fighting lag you can't fix with faster sensors. On a real motor with encoder jitter, D above 0.1× your P gain usually makes things worse. The math is clean; the signal never is.

#embedded#pid#control#robotics

3h ago