How to make an adaptive PID controller?

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The PID program I write currently works fine with the DC motor of our robot. Considering that the friction efficient and mass may vary(we need to load/unload weights to the robot), I am thinking about improving the system by using an adaptive PID controller. Does anyone have some sample code/algorithm I can refer to? I am new to this type of PID so simple tutorials are welcomed too.
Thanks in advance!

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Birdman on 21 Dec 2017

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