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The PID control loop has some drawbacks that make it complicated to use. One of the hardest things at the PID Controller are the enhancements of the individual joints (Kp; Ki and Kd). If the amplifications are not optimized, the PID controller is less than a simple P controller, as it by chance the robot makes strong fluctuations. Sometimes these fluctuations are so strong that The robot can not be found on the line. On the other hand, the robot runs reasonably precisely along the line if reinforcements are optimized. The selected reinforcements can be optimized a bit more, but they is close enough, so the robot can follow the line consistently at a reasonable speed. An easier way to follow the line will be to turn down the engine speed on the left wheels when the robot comes too far to the right of the line and corresponding to the right wheel. downside Here is the correction always equal, ie. if the robot is only a little too far to the right The line corrects it as much as if the robot was far from the line. Another disadvantage is, that the robot makes it difficult to take turns because the correction must be small enough for the robot is stable on a straight line. To get the robot to drive well along a straight line and take turns, its speed must be reduced.

INTO JAPANESE

PID制御ループには、使用が複雑になる欠点がいくつかあります。 PIDコントローラで最も困難なことの1つは、個々のジョイント（Kp; KiとKd）の機能強化です。増幅が最適化されていない場合、PIDコントローラーは単純なPコントローラーよりも小さく、偶然にもロボットが大きな変動を起こすからです。時にはこれらのf

BACK INTO ENGLISH

The PID control loop has several disadvantages that complicate its use. One of the most difficult things with PID controllers is the enhancement of individual joints (Kp; Ki and Kd). If amplification is not optimized, the PID controller is smaller than a simple P controller, and by chance

INTO JAPANESE

PID制御ループには、その使用を複雑にするいくつかの欠点があります。 PIDコントローラで最も困難なことの1つは、個々のジョイントの強化です（Kp; KiおよびKd）。増幅が最適化されていない場合、PIDコントローラは単純なPコントローラよりも小さく、偶然にも

BACK INTO ENGLISH

PID control loops have some disadvantages that complicate their use. One of the most difficult things with PID controllers is the strengthening of individual joints (Kp; Ki and Kd). If the amplification is not optimized, the PID controller is smaller than a simple P controller and, by chance

INTO JAPANESE

PID制御ループは、その使用を複雑にするいくつかの欠点を有する。 PIDコントローラで最も困難なことの1つは、個々の関節の強化（Kp; KiとKd）です。増幅が最適化されていない場合、PIDコントローラは単純なPコントローラよりも小さく、偶然にも

BACK INTO ENGLISH

The PID control loop has several disadvantages which complicate its use. One of the most difficult things with PID controllers is the strengthening of individual joints (Kp; Ki and Kd). If the amplification is not optimized, the PID controller is smaller than a simple P controller and, by chance

INTO JAPANESE

PID制御ループは、その使用を複雑にするいくつかの欠点を有する。 PIDコントローラで最も困難なことの1つは、個々の関節の強化（Kp; KiとKd）です。増幅が最適化されていない場合、PIDコントローラは単純なPコントローラよりも小さく、偶然にも

BACK INTO ENGLISH

The PID control loop has several disadvantages which complicate its use. One of the most difficult things with PID controllers is the strengthening of individual joints (Kp; Ki and Kd). If the amplification is not optimized, the PID controller is smaller than a simple P controller and, by chance