14 lines
697 B
Markdown
14 lines
697 B
Markdown
***************************************************************
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* Arduino PID Library - Version 1.2.1
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* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
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*
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* This Library is licensed under the MIT License
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***************************************************************
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- For an ultra-detailed explanation of why the code is the way it is, please visit:
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http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
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- For function documentation see: http://playground.arduino.cc/Code/PIDLibrary
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This fork uses back calculation per [Astrom 1989](http://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdf) to manage integral windup.
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