http://robosub-vm.eecs.wsu.edu/wiki/ 2026-04-04T03:25:15-0700 http://robosub-vm.eecs.wsu.edu/wiki/ http://robosub-vm.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2018-01-28T23:05:19-0700 Anonymous (anonymous@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/control/start?rev=1517209519&do=diff Control System The control system follows basic PID theory, but has two additional parameters called hysteresis (H) and windup (W). The hysteresis essentially creates a deadband. If the error $E$ defined in ($\ref{eq:error}$) is below the hysteresis level, the error can be assumed as (set to) zero, and thus no corrective action is required. The windup term acts to limit the integral portion of the accumulated error. If the integral value is above the windup level, it will be truncated to the wi…