Hi,

Michael Rigby-Jones wrote:
>
> I used this trick for the PID controler I wrote a few months back.  I don't
> understand what you mean when you say running 16 bit values is not feasable.
> Most the the variables I used were 16 bit integers.   Admittedly I was using
> a 10bit ADC and DAC though.

Can you possibly post your code ? I use a rewrite of a MChip AN but
there may be a more elegant way ...

>
> It seems to me that you can spend all the time in the world with Bode plots
> and pages of enormous calculations, but at the end of the day, you can't
> beat sitting down and tuning control loops by experimentation.

Had this feling too ;-)

This is caused imho that you cant catch all possible delays in your
control
loop and many problems dont behave linear so you've to find a value that
fits
the most cases.

Kind regards,

        Stefan Sczekalla-Waldschmidt
        ssw@oikossw.de