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+
+![img](cj125_heating_4_9.png)
+
+Wideband controller based on Bosch CJ125 chip
+
+green is vUr, temperature feedback
+
+red is duty cycle
+
+yellow is vUa, the lambda current measurement
+
+white is converted AFR
+
+fully operating in <30 seconds
+
+in to closed loop in ~18 seconds
+
+P=30
+
+I=5
+
+D=0.3
+
+though you could probably use D=0 since the system is already damped so hard
+
+50Hz
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