[ODE] Servo to reach a target position

[Gary R. Van Sickle]

> 1) Let's say you have a machine with a limited range of movement, and
> in order to get Kp high enough for it to be able to respond, it always
> gets unstable, rocking back and forth. This means that, assuming
> you're not using Ki or Kd, yet, your Kp is too high. However, as
> already stated, it doesn't respond with a lower Kp. This is a case
> where you need to use Ki. If the machine doesn't respond, then as
> error accumulates, I gets bigger and eventually gives a signal needed
> to break the machine away from where it's stuck.

This is generally referred to in the field as "anti-windup".

-- 
Gary R. Van Sickle
Brewer.  Patriot.