Optimize pid_i capping #151
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ScratMan
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May 12, 2023
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I checked what could happen with your modifications, and it may make the integral change while the system overshoots, which is not supposed to happen, the overshoot should be managed by pid_p, and the pid_i should change only once the system is settled and there is a very small residual error.
As the stability of a PID is already difficult to obtain, I prefer not to change it's behaviour by altering a code that is already widely used in industry.
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I'm finally observing some specials conditions where pid_i can be over-limited by current code, so PID Controller is working in non-optimal way. And here's easy fix, where we're allowing pid_i to decrease where control_output is 100% and increase where output is 0%. And now pid_i can go below zero to compensate e.g. pid_e, but still without over-saturating the output (e.g. if current temp is always below target temp, pid_i will decrease until PID output is zero, not further).
Closes #146, closes #150.