# PID control

From www.wiki.ardumower.de

# Abstract

Ardumower uses a digital PID controller for

- heading/course tracking
- perimeter tracking
- motor speed control
- ...

# PID controller

Proportional, Integral and Derivative (PID) controller concept:

P : control gain (too high value produces oscillation, too low value too slow control) D : to reduce over-shooting I : reduce small error left by P-only

# Velocity PID

The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form: