answers_pid.md

Project 3 PID Answers

Part 1: Altitude PID in Simulation

Problem 1

7. $K_p$: $K_i$: $K_d$:

Problem 2

1. $K_p$: $K_i$: $K_d$:

Problem 3

1. $K_p$: $K_i$: $K_d$:

Part 2: Tuning

Problem 1

Problem 2

2. throttle_low.init_i:

Problem 3

self.roll_low.init_i: self.pitch_low.init_i:

Problem 4

1. $K_u$:
2. $T_u$:
3. $K_p$: $K_i$: $K_d$:
4. $K_p$: $K_i$: $K_d$:

Problem 5

* setpoint:
* error:
* control variable:
* process variable:
* propotional term:
* integral term:
* derivative term:

* setpoint:
* error:
* control variable:
* process variable:
* propotional term:
* integral term:
* derivative term:

* why it spikes:
* one way to prevent the spike:

Optional (not graded):