PID-Controller Simulation

This demo simulates a physical object like eg. a ball with its position and velocity.
The ball can be accelerated by gravity or by the two PID-Controllers for X and Y axis.

As input the controllers are given the difference in position between the goal (green cross) and the ball.
If given the right settings, the controller will always bring the ball towards the goal.

You can control the P-, I- and D- part of the controllers below to see the effect they have on the simulation

This is pretty much a simulation of the experiment in this video: Ball and Plate PID control with 6 DOF Stewart platform

Left-Click to position ball, Right-Click to set goal.
The red line shows the velocity,
the green one the accelleration by the PID (without gravity).
They are not to scale!

P-Part	Proportional: Forwards the input	Pushes to the goal
I-Part	Integrational: Sums up all history	Compensates long-time-trends
D-Part	Derivative: Returns current slope	Hits the breaks
Gravity		Drags the Ball down