Abstract: For many systems, there is an objective to minimize control effort while also providing a fast convergence rate. In the past decade, quadratic programming (QP) and control Lyapunov functions ...

Supports safe lifecycle sequencing, synchronous command API, and a background reader thread that demultiplexes asynchronous measurement lines from command responses.

"Windup" occurs when the integral term grows indefinitely while the actuator is saturated (at max limit). Standard PID calculates d(Error)/dt. This library calculates ...