# SMARTDAMP Algorithm

Our custom approach to PID tuning

More content soon. TLDR: if you have the kV and kA feedforward values. we can use that as a model for our system.

Then, we solve for the poles of the system. After some math, we arrive at the following:

$K_D=2\sqrt{K_aK_P}-K_a$

This will guarantee a critically damped PID response for a PD controller, given most arbitrary choices of Kp.

It is recommended that the following inequality is true:

$K_p \geq \frac{K_v^2}{4K_a}$

Otherwise, Kd will be negative and you get a scary non-minimum phase system.

This article will be fleshed out more very soon!

Last modified 4mo ago