try this link:

http://www.engin.umich.edu/group/ctm/PID/PID.html

it's part of a matlab tutorial. lots of links at the bottom for examples, as
well as other classical approaches like root-locus (blech)


> -----Original Message-----
> From: Duane Brantley [mailto:Duane.Brantley@GENBAND.COM]
> Sent: Monday, July 16, 2001 1:12 PM
> To: PICLIST@MITVMA.MIT.EDU
> Subject: [PIC]: Need help with PID for motor control on a F877
>
>
> OOPS!  Sorry for the resend.  I didn't get the topic line correct.
>
> Hello everyone,
>
> I found out this weekend that I a PID loop for the motor
> control on my bot.
> I'm using the F877's PWM output to control my drive motors
> thru an H-bridge
> setup.  The motor has a shaft protruding from both sides.
> The wheel will go
> on one side and I'll put a shaft encoder of some type of the
> other side.
> With the shaft encoder, I'll be able to determine speed,
> direction, stall,
> and whatever else I need.
>
> I have NO clue about a PID loop, so if someone could give me
> some code to
> look at and get an understanding, I'd greatly appreciate it!
>
> Thanks,
>
> Duane Brantley
>
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