Because Kp, to determine the inner ring need to Kp's outer ring is set to zero, but the inner ring of the input values from the outer ring operation values, if Kp is zero, the outer ring of the inner ring of the input is zero
If the inner input is zero, regardless of the inner ring KP for any value, the steady at 0 degrees, always can't produce continuous turbulence, the optimal values of KP not sure, later ki kd can not be sure, the bosses have a way?
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