pid

Control

Control will be achieved by setting targets for angular velocity, acceleration and jerk (3rd derivative) and utalising a PID circuit to modify the motors duty cycle to compensate for dynamic and systematic drag, maintaining a precise angular velocity and achieving that speed with grace.

• Velocity_PID
• Position PID
• Tuning PID control parameters with a Kalman filter

Optimisation / smoothing

• Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments