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I think you only need a single PID controller. A linear model of the system might be:

x1= position x2= speed u= motor current

x1_dot = x2 (derivative of position = speed) x2_dot = K*u (motor speed controlled by current)

So you can control position by controlling the motor current.

Now if you want to track a path, you need to discretize it and feed in a series of position setpoints to be tracked.

I think you only need a single PID controller. A linear model of the system might be:

x1= position position, x2= speed speed, u= motor current

x1_dot = x2 (derivative of position = speed) x2_dot = K*u (motor speed controlled by current)

So you can control position by controlling the motor current.

Now if you want to track a path, you need to discretize it and feed in a series of position setpoints to be tracked.

I think you only need a single PID controller. A linear model of the system might be:

x1= position, x2= speed, u= motor current

x1_dot = x2 (derivative of position = speed) x2_dot = K*u (motor speed controlled by current)

So you can control position by controlling the motor current.current (through integration).

Now if you want to track a path, you need to discretize it and feed in a series of position setpoints to be tracked.

I think you only need a single PID controller. A linear model of the system might be:

x1= position, x2= speed, u= motor current

x1_dot = x2 (derivative of position = speed) speed)

x2_dot = K*u (motor speed controlled by current)

So you can control position by controlling the motor current (through integration).

Now if you want to track a path, you need to discretize it and feed in a series of position setpoints to be tracked.