How to: Fix Oscillations | I-term Tuning
In this one we review how the PID loop works in the chain of effet from i. to P. to D. terms (in that order) for which terms dampen oscillation for the preceeding term. Ultimately the D-term is the ultimate dampening stop gap in the I.P.D. loop, HOWEVER for dampen i-Term oscillation you need to increase P and D gains (together) or of course you can simply decrease i-Term gains.
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