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authorNicolas Schodet2011-01-29 00:54:42 +0100
committerNicolas Schodet2011-01-29 21:30:28 +0100
commit2e902f85f4ec36837e293dab5505c68816422844 (patch)
tree650028c5f6c743db9ca21fb60b749f7736394ef0 /AT91SAM7S256/Source/RCXintro_6.txt
parent97d5163de1aaa4f053cc2c29642a9ef41167d66c (diff)
add option to disable saturation in regulation intermediary values
When computing PID, the output code limit the value of P and I participation. This is a problem as this introduces non-linearities and limits the efficiency of P and I terms.
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