-pid tuning instructions

pid.md

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+* create a stepped schedule
+
+200
+220
+200
+220
+
+* set i=0
+* set d=0
+* set p=5
+
+run schedule
+if oscillation is sustained stop
+otherwise, double p
+
+once oscillation is sustained
+* record P as Ku
+* record period of oscillation as Pu
+
+set p=Ku/1.7
+set i=Pu/2
+set d=Pu/8
+
+-------------------------------------------------------------------------------
+another method (for just PI control)
+https://pdfs.semanticscholar.org/e719/f259f6c93b9a897a214824e562c886aa80b9.pdf
+
+
+use step schedule
+set d=0
+set p=1
+you should see some overshoot and barely observable undershoot
+if not, change p until that's true (up or down)
+
+next measure T between high peak and low peak
+set i=T*1.5
+set p=.8*lastp
+
+p=1*.8 = .8
+i=1040-315 = 725s * 1.5 = 1088
+
+-------------------------------------------------------------------------------
+https://www.eurotherm.com/pid-control-made-easy
+
+similar to above for PI
+
+p=2*25=50 (that's 25F overshoot times 2)
+i=725*1.5 = 1088
+d = 1088/5 = 217
+
+
+