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A setpoint step produces an unwanted derivative kick · case 02
A setpoint step produces an unwanted derivative kick.
Case contract
Return the derivative contribution -gain*(measurement-previous_measurement) for unit sample time, independent of setpoint motion.
Why this case matters
An offline discrete controller model isolates this state or arithmetic fault; it makes no physical plant or safety claim.
One recorded failure
Sample boundary fixtureThis sample comes from the broken implementation of a controlled reproducer.
| Boundary fixture | Actual | Expected | Outcome |
|---|---|---|---|
| setpoint only | 4 | 0 | Failed |
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