I don't understand why you don't want to use the existing routines.Its been a while since I looked at control systems but I am sure they know what they are doing.


Dear Jez,
Thank you very much for your reply. you are right, many of these algorithms are develped by people with high degree of math and I'm sure too, that they know what they are doing but many of these routines impose heavy computational load on 8051 based micro I want a relatively simple routine. I will appreciate your further comments.

thank you very much