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Date: Thu, 29 Sep 2005 16:28:02 -0700
From: Geoff Levand <geoffrey.levand@am.sony.com>
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To: Benjamin Herrenschmidt <benh@kernel.crashing.org>
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Benjamin Herrenschmidt wrote:
> The algorithm itself is extracted from darwin. However, it's a rather
> complex modified version of the PID algorithm, and thus it could use
> some review to make sure I got everything right.
> 

As we are already in the digital domain, I would think it would be 
more savvy to use a digital controller than try to simulate an
analog controller...  Why don't you abstract the control algorithm 
such that you can plug in others as they are developed.

-Geoff