---
title: optimal control
tags: cs 593 robotics
---

## PID

### terms and when you need them
- kp: all the time
- kd: smoothing and avoid oscillations
- ki: work against resistive forces, to avoid steady state error

## MPC (model predictive control)

Try to do this for the differential drive robot for WC https://www.youtube.com/watch?v=9Gk5DDtsoOE

thats exaclty what i was thinking when he said lane changing lol
PHYSICSSS

## for next time
- review moments (moment of inertia - "rotational mass, resistance to rotational acceleration ")
- ackerman steering question mark?
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