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Re: auto tune pid?
It's up to you, tastes differ. You may use a factor Kd instead of Td in the case if Kp=1/Td, but Td has a physical sense as a time constant of differential stage in PID controller. I wrote that multiplication of integral & diff terms by proportional gain makes PID more...
Re: auto tune pid?
I would recommend you modify PID formula a bit:
PID = GainP * ( actual error + SUM(previous errors) / Ti + (actual error - last error) / Td
where Ti - integral time, Td - derivative time.
In this case all terms will be normalized.
PID tuning process is a complicated procedure...
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