Dear,

I am tunnig PID but my result are not good. can you help me?

D  - I filter by moving average from 400 samples and I limit D to +- 20

I - I limit it to +- 5

Wanted value is zero 0

Actualy P is 0.7, I=1, D=1.5

https://www.youtube.com/watch?v=oDTqlZWAbM8

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