I came up with the idea of expanding the “PID vs ML” article series to seriously investigate what are the real-world possibilities of augmenting classical PID controllers with self-diagnostics capabilities using FFT (unbalanced motor torque, gearbox damage, bearing faults, etc.).
Of course my nature immediately kicked in. Instead of just slapping FFT onto the PID routines, calling it a day and ticking the ‘done’ box like a normal person, I did what I always do - tore the whole thing apart into pieces and started cursing stupid imperfection of the real computer world (as opposed to that beautiful, clean mathematical fantasy we all pretend exists). We’re talking about a finite number of samples, precision butchered by IEEE 754 float/double quirks, rounding errors that sneak in like uninvited guests, and … You think I’m nitpicking again…? Yeah, probably. My nature. But hold my coffee - I’ve got a perfect real-world example coming right up that shows why sometimes being this pedantic actually saves your ass.