2 ms·

Any recommendations for an algorithm for safe online PID tuning? Maybe something involving pole placement or frequency response analysis?

• jopizio 3y ago
  I've used this successfully for some hardware projects: https://pidtuner.com/#/ https://pidtuner.com/#/
  • jcgrillo 3y ago
    That looks like it's using the step response, which is on for an offline tuner but it wouldn't work for online tuning. Think of an automotive cruise control--to measure the step response the controller would have to floor it, which wouldn't be safe. I'm looking for something that slowly, continuously optimizes the tuning parameters as the controller is running.
• salamanderman 3y ago
  It really is mostly empirical, especially since any real system has limits on the amount of proportional, derivative, or integral control authority you can apply. Still, every controls student is taught Zeigler Nichols, and are simultaneously told by their professors that nobody uses it. https://en.m.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method https://en.m.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_meth...