The output value of discrete PID controller is NaN
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I'm trying to control motors with pwm signals.
when I clicked monitor & tune button, I found some outputs of discrete PID controller block is NaN. It is stated below.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/294030/image.png)
Other input from same bus, yawspeed, generate normal value, however, pitch and roll angles have nan value.
I first thought that the problem is from the difference of data type.. so I checked data types of all inputs and outputs and there are no problems with data types.
Is there anyone who know why the nan value is generated?
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답변 (3개)
Ankur Bose
2021년 9월 28일
Answered the same question here
https://www.mathworks.com/matlabcentral/answers/527384-i-gain-of-pid-controller-has-nan-value-simulink
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勇刚 张
2022년 5월 19일
This method can solve the problem
- Ensure that initial inputs are not NaN. in PX4 thing might happen when you are trying to read from vehicle attitude connected to rotation block. Initially the estimator might not have started which caues attitude not to be published and hence uORB block retutns [0 0 0 0] as quat which are invalid and hence rotation block computes NaN and passes to PID. Eventually this might be fixed but PID will still store NaN.
- Reset the PID block using and external signal when values are stored
Kunal Lad
2020년 7월 31일
Hey Lim Daehee,
Did you find the solution to this problem as I am facing it too. Share up if possible.
Thanks.
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