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[Jan Stránský <question707278@xxxxxxxxxxxxxxxxxxxxx>]

Question #707278 on Yade changed:
https://answers.launchpad.net/yade/+question/707278

Jan Stránský posted a new comment:
> Yes. But the difficulty is that it's hard to determine proper
proportional parameters for kP, kI, and kD.

I have no personal experience.
I suggest reading the wikipedia article and then testing the parameters on a simple (e.g. one node-sphere interaction or a few PFacets - a few spheres) example

> I'd also like to ask whether the function for calculating the stress
on the loading plate and confining stress is correct or not:

yes, it looks OK

> dirV = Vector3(x-x_cyl,y-y_cyl,0).normalized()

maybe also reverse the axis, but is just changed sign..

Cheers
Jan

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