pid/integral_limit

A scenario of the PID controller, from tools/trace/scenarios/pid/integral_limit.cpp.

✓ pass

• The clang run (clang 18.1 optimized) matches the committed trace.
• The gcc run (gcc 13.3 optimized) matches the committed trace.

Shown on

These players show the same trace, with panels chosen to explain it:

• How large a disturbance can the integral cancel? (PID Deployment)

Every channel

pid/integral_limit: every channel 1× real time

height [m] height

offset_prediction [m] offset_prediction

integral [m/s²] integral

needed [m/s²] needed

t = 0.000 s / 12.000 s

Keys (with the player focused): Space play/pause · ← → one sample (Shift: ten) · Home/End · [ ] speed

12 s of the control/pid scenario integral_limit.cpp, 601 samples every 0.02 s. The panels plot every channel that changes: height, offset_prediction, integral, needed. 2 events are marked. Pass criteria: BB-V1 height_error_vs_closed_form_offset <= 0.001 m.

1. t = 1.00 s offset −1.5 m/s², within the integral's ±2
2. t = 6.00 s offset −3 m/s², beyond it

• ✓ passBB-V1 height_error_vs_closed_form_offset = 4.04e-9 m (<= 0.001), computed by the scenario harness

Block control/pidScenario tools/trace/scenarios/pid/integral_limit.cppSeed 0dt_sim 0.001 s · dt_trace 0.02 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

Constant over the run

• setpoint = 1 m
• integral_limit = 2 m/s²

All scenarios