I'm in charge of a module to control the smoothness with which a platform should move; the platform already implements a closed-loop control on its own but this firmware is closed and I do not have access to source code. It is therefore requested that a closed loop control should implemented on top of that PID, in a superior layer, above a module that already implements a closed loop control, so i have several question:
- It's conceptually correct implement a PID control in an upper layer to closed loop control that implements it?
- What features may be loose in the lower close loop?
- Maybe loop control closed negatively be influenced by the PID that implements the top layer?
- Estimate The angular speed, yaw and pitch, based on the position of the motors using Kalman filters can generate values too far from the actual values reported