36068Re: [SeattleRobotics] Re: Robotic control algorithms
- May 1, 2008Robert
> A "large" Kp will not only produce high acceleration but also willI really don't see that.
> overshoot (and over-correct). The longer the delay in reaching a stable
> speed after an applied correction, the worse the overshoot.
dP/dt (i.e. velocity) is self-perpetuating - hence momentum. Momentum gives
rise to overshoot in a P controller.
dV/dt (i.e. acceleration) is not self-perpetuating. There is no equivalent
of momentum for acceleration. Hence velocity cannot overshoot in a P
controller. (Assuming all the caveats in my last post about instant power
control and no sensor lag.)
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