2 posts tagged with "Research"

Integral windup is one of the most common failure modes in deployed PID controllers. This post covers the problem from first principles, derives the back-calculation anti-windup scheme, shows how Synapsys implements it, and validates the design against a simulated second-order plant.

A quadrotor has four rotors, six rigid-body degrees of freedom, and fully coupled rotational dynamics — it is the MIMO benchmark of aerial robotics. This post walks through the complete design pipeline: physics → linearisation → LQR → Neural-LQR residual → 3D simulation.