Guidance of a Moon lander: PID-based vs TGO-based

As part of my Moon lander guidance software, I am making several small prototypes for each subsystems, in order to test ideas, learn and choose the best option. While I progress on the overall project, I have already learned a lot of things and wanted to share some of them.
In this article, I will talk about how to control the altitude and vertical velocity of a spacecraft in order to guide it to a soft landing.
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