Hello,
I try to implement the DCL PID controller. I do have a question when it comes to the derivative filter coefficients:
The controller is serviced every 400Hz in a ISR. I would like to set the filter bandwith to 5Hz. Refering to the documentation I would like to know if i do it the right way.
1Hz = 6.283rad/s
f_Isr = 400Hz -->T_Isr = 1/400Hz = 1/(400*6.283rad/s)
f_filter = 1/(2*Pi*Tau) = 5Hz --> Tau = 1/(2*Pi*5Hz)
Tau = 1/(2*Pi*5*6.283rad/s)
c1 = 2/(T_Isr + 2*Tau) = 188.38 [1/(rad/s)]
c2 = (T_Isr - 2*Tau) / ( T_Isr + 2*Tau) = -0.9244
Is this the right way? Thank you very much.