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  1. randomvibe

    PID Control and Integral Windup on 6-Foot Tall Robot

    It's almost spooky what a robot will do with just a few simple rules, as with a PID controller. I use PID to keep this 6-foot tall Falling-Up Robot balanced using stepper motors. But I'm having trouble with Integral Windup. If I lift the robot, or if it gets stuck somewhere, it goes biserk...

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