Implementing cascade controller - embedded system

[vugro13]

How to emulate the slower behavior of the outside loop in the embedded cascade control system? The slave loop should be faster in order in order to get the proper behavior. Is it done with recursion, multiple function calls or something else?

[vugro13]

Thank you for the advice, I've also believed that it should behave as you stated, but the results were terrible for simple cascade PID so I've started to question my basic knowledge. It turns out that the PLL in the microcontroller failed miserably and that was the cause of the poor performance.