Hi Ed,

I hope the following information will be of some interest for you.
I've been searching for an programmable PID algorithm some weeks ago
and found one on a german web-site.
    http://www.uni-karlsruhe.de/~unbd/sa/node6.html

Well for the case you can't read german I will give you the rough
outline.
As you can see on the web-page under (12) the formula for the PID has
got an integral, that is the main problem programming the algorithm.
So the author does an approximation using the formula given under (13)
which results in the easy programmable formula under (14).

Since there are only +,-,/ operations this one should be very easy to
prorgram (I've done this only once in basic, so I can't give you any
source in assembly or C).

I hope that the variables are called the same for the english speaking
people, if not feel free to write me back and I'll do my very best
with my bad english to explain you which is what.

Greets,
       Michael

EH> Hi All,

EH> I am looking for some help with programing PID algorithms.
EH> I have tuned them for years but never have had to code one.
EH> The output will be fed to a D/A converter with a +10 to -10
EH> Vdc output swing to drive a standard servo amp. Any help
EH> in Assembly or C would be appreciated.

EH> Thanks in advance

EH> Ed Heath
EH> IAI

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