Derivative Filtering
Implements the D term as Kd*s/(1 + s*Td/N), a differentiator rolled off by a first-order low-pass with N typically 8-20, bounding high-frequency gain so measurement noise is not amplified without limit. Larger N is truer differentiation but noisier output.
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Implements the D term as Kd*s/(1 + s*Td/N), a differentiator rolled off by a first-order low-pass with N typically 8-20, bounding high-frequency gain so measurement noise is not amplified without limit. Larger N is truer differentiation but noisier output.
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