---
# System prepended metadata

title: optimal control
tags: [cs 593 robotics]

---

---
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?
- 