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YouTubeEigen Box
The Control Trick That ERASES Disturbances (Integral Action)
A drone hits wind. P-controller leaves it offset forever. Add ∫e dt. Done. Math feels like cheating. Integral action: the simplest, most elegant trick in control theory. A pure proportional controller leaves a constant steady-state error under any constant disturbance — the drone hovers at 0.9m, not 1m, forever. Add an integrator (∫e dt ...
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