How to integrate data?

[BrittClaus]

Hello!

I have a code where I read potentiometer data in order to have a position measurement. I use this measurement to create a controller and send this to a servomotor. Right know I have a simple P-controller and it works.

I want to have a more advanced controller and for this I want to integrate my data. But in order to use the numerical integrate block i need an array of 2, 3, 4 or 5 elements depending on the integration method. But since I use a timed loop I only get 1 measurement per loop. How do I handle this in the best way? Is there another way to integrate?

Thanks in advance!

[altenbach]

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@BrittClaus wrote:

I want to have a more advanced controller and for this I want to integrate my data. But in order to use the numerical integrate block i need an array of 2, 3, 4 or 5 elements depending on the integration method.

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I haven't looked at your code but it sounds like you could use a ptbypt method. It would be easy to adapt it to higher orders.