There is one part of PID code I don't understand
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The part is here
%% You can replace the follwoing five lines with your system/hardware/model
STATE1(i+1) = sum(PID); % sum PID term to calculate the first integration
state2(i+1) = (STATE1(i+1) + STATE1(i))*dt/2; % output after the first integrator
STATE2(i+1) = sum(state2); % sum output of first integrator to calculate the second integration
Output(i+1) = (STATE2(i+1) + STATE2(i))*dt/2; % output of the system after the second integrator
FeedBack(i+1) = state2(i+1)*feed1 + Output(i+1)*feed2;
I just don't understand what it means
why i have to integrate twitce to get the output and feedback?
I watch the block diagram but just simple pid controller and output input
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Luigi Emanuel di Grazia
2020년 12월 27일
As can I see from the link you attached, the cose uses as plant a double integrator.
This is the plant to be controller, not the PID itself
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