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1

It would be much better to determine a fixed sample rate for your controller. A really rough rule of thumb is that whatever the settling time you need out of the loop once it is operating in the linear regime, your sampling interval should be between 10 times and 100 times less than the settling time. Put another way, the sample rate should be 10 to 100 ...


2

Don't disengage your controller. The purpose of a controller is not only to steer your system to the desired setpoint according to a predetermined dynamical response but also to counteract potential external factors that may impede this task. Think of a disturbance that will drive the system far from the setpoint once it has been reached. Thus, the ...


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