i have seen a lot of talk....
you need to study my code to understand what my questions are about.....
i am not specialized in PID systems ,,,,, and i am not talking about theoretical approach .... and i am not discussing ( correct phrases )
i am talking about some thing i change in PID (and it not related to PID standerd systems)
i will call it APC (AdelPhysi Control )
you are right i have to go in a scientific research to approve that it is a more balance system or not.....
i will give the control system formula and block diagrams as soon as possible....
but at the moment the code i published shows the major idea about what i am saying