On Thu, 12 May 2005, Padu wrote:

> Out of curiosity... if you have a PID, wouldn't you have three constants
> (Kp, Ki, Kd)?

When you do PID in assembly and a 24 bit floating point math code just 
so happens not to be handy or affordable space and time-wise, then it is 
extremely useful to constrain Kp, Ki and Kd to fractions of small 
numbers (preferrably binary numbers). 3/4 is easily done in assembly, 
and so are most other numbers that end in 0.25 and whose integer parts 
are divisible by 2. 0.7886544 is slightly harder so most people avoid 
such multipliers.

Peter
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