Ramp up down? Code ideas.

[Jerson]

Consider this.

The error between expected and actual output be summed every second in sE

Now, decide the correction time as Ti or error Integration time in seconds. The aim is to apply the full sE in Ti seconds from the time of Error inception.

The fraction of E that gets applied to regen output will be sE / Ti

sE will be reduced by the above fraction.

To prevent a lockup condition from which your control cannot recover, you will need to put limits (both +ve and -ve) on the value of sE so that it doesn't do fancy things like rollover on addition

The output will change at the rate you specified.

Good luck with that and Happy thanksgiving