![]() LEGO MINDSTORMS NXT–compatible Bluetooth dongle (optional for Steps 3 and 5).Two LEGO MINDSTORMS NXT interactive servo motors.We recommend completing the Communicating with LEGO MINDSTORMS NXT Hardware example. This example also illustrates how to switch between simulating the PID controller and running it on hardware in the same model. This example shows you how to simulate the controller using a simple plant model, first with no feedback control (open-loop control), and then with feedback control (closed-loop control). The controller minimizes the difference between the measured and the desired value of a chosen system variable by adjusting the system control inputs. ![]() PID control is a basic control loop feedback mechanism. One such controller is a well-known proportional-integral-derivative (PID) controller. To reduce deviation in the vehicle heading, a better approach is to use a closed-loop controller that adjusts the power applied to two motors based on the difference in their rotations. This is caused by mechanical and surface differences experienced by each of the wheels. In a vehicle using independent wheel control, applying the same power to each wheel generally does not result in the vehicle moving straight.
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