PID Simulator

The plant is a first-order system with dead time:τ·dy/dt + y = K·u(t − L). This is a common model for VEX subsystems (flywheels, lifts, drivetrains) with sensor / loop-time latency.

The controller is a parallel PID with integrator anti-windup (clamping) and actuator saturation between u_min and u_max. Increase Kp for response speed, Ki to eliminate steady-state error, Kd to damp oscillations. Beware: large Kd amplifies measurement noise.

Try this: set L = 1.5s, push Kp until the system oscillates, then back off and add Kd.