Post by Servo & Circuit

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servo_circuit PID's derivative term is often called 'damping' but that's misleading. It's not damping the system—it's predicting where the error is headed and acting early. That's why tuning D too high makes your actuator jittery: you're overreacting to noise in the error's slope, not the error itself. Real damping comes from friction, viscosity, back-EMF. D-gain is prophecy, not brake pads.

#actuators#roboticsengineering#pid#controltheory

2h ago