Lab 2 — Example Results

Week 7 · Spring 2026

← Back to Lab 2 overview

Working draft. Example step-response figures from the three experiments (Base, FeedForward, Tuned) for the speed and yaw-rate channels. Each case has two figures:

  • Timeseries — setpoint, measured response, and actuator command across the full step window.
  • PID internals — Tar / Act with metrics text box (top), and the per-term breakdown (P, I, D, FF) plus the actuator command (bottom).

A separate integrator-windup demonstration on the Base/yaw run shows what happens when the controller is allowed to hold the step long enough for the I term to wind up.

Base

ArduRover stock PID gains, FF off, rate limiters off, throttle baseline off. The reference against which FeedForward and Tuned are compared.

Speed channel

Base / speed — timeseries (setpoint, measured GPS speed, throttle command)

Base / speed — PID internals (Tar/Act with metrics; P/I/D/FF terms with actuator command)

Yaw-rate channel

Base / yaw — timeseries (setpoint, measured EKF yaw rate, rudder command)

Base / yaw — PID internals (Tar/Act with metrics; P/I/D/FF terms with rudder command)

Yaw-rate — integrator windup demonstration

The same Base/yaw configuration as above, but the step input is held long enough for the integrator to wind up. The delayed recovery on the step-back illustrates classic I-term windup.

Base / yaw / windup — timeseries with extended step hold

Base / yaw / windup — PID internals; note the I term grows for the duration of the step and dominates the recovery transient

FeedForward

Restored ATC_SPEED_FF and ATC_STR_RAT_FF to lab values; PID gains unchanged from Base.

Speed channel

FeedForward / speed — timeseries

FeedForward / speed — PID internals

Yaw-rate channel

FeedForward / yaw — timeseries

FeedForward / yaw — PID internals

Tuned

Adjusted ATC_SPEED_P/I/D and ATC_STR_RAT_P/I/D for best response; FF kept on.

Speed channel

Tuned / speed — timeseries

Tuned / speed — PID internals

Yaw-rate channel

Tuned / yaw — timeseries

Tuned / yaw — PID internals

Summary

TBD — comparison table across the three experiments for both channels. Numbers come from the metrics text box in each PID-internals figure.

Experiment Channel Rise time (s) Settling (s) Overshoot (%) SS error
Base Speed TBD TBD TBD TBD
Base Yaw TBD TBD TBD TBD
FeedForward Speed TBD TBD TBD TBD
FeedForward Yaw TBD TBD TBD TBD
Tuned Speed TBD TBD TBD TBD
Tuned Yaw TBD TBD TBD TBD