This is a good and simple explanation on ultimate gain Ku which is required for the Z-N PID tuning method.
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This is a good and simple explanation on ultimate gain Ku which is required for the Z-N PID tuning method.
This is a set of good illustration and instructions on how to attain the Ku (ultimate gain) which is important for using Zielger-Nichols tuning method.
Powerpoint to various gyro drift compensation strategies. Very clear layout of the approaches.
Useful link to comparison of Kalman versus Complementary filter. Good simple pseudo code include with a good explanation of why complementary is easier to use but yet performs well.
Thanks to Pieter Jan for summarizing the use of complementary filter against the IMU readings.