Manual PID Tuning Heuristics
Loop-shaping by hand: start with I and D off, raise Kp until the response is fast with slight ring, add integral until offset clears in acceptable time, then add small derivative to damp the ring. Each observed symptom (slow rise, slow offset recovery, sustained ringing) maps to one knob.
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Loop-shaping by hand: start with I and D off, raise Kp until the response is fast with slight ring, add integral until offset clears in acceptable time, then add small derivative to damp the ring. Each observed symptom (slow rise, slow offset recovery, sustained ringing) maps to one knob.
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