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:
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:
KpKv24KaK_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!