Provide the ideal gain scheduling for Figure 12.16 as a function of Q. DATA FROM FIGURE 12.16

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Provide the ideal gain scheduling for Figure 12.16 as a function of Q.

DATA FROM FIGURE 12.16

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Assume inertia varies with theta as follows:

where JM is the motor inertia, JL is the load inertia, and R is the length of both arms connected to the elbow. Assume that the nominal gain is defined as the gain when Q = 0.

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Control System Design Guide Using Your Computer To Understand And Diagnose Feedback Controllers

ISBN: 9780123859204

4th Edition

Authors: George Ellis

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Question Posted: Apr 20, 2024 01:00 AM

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Provide the ideal gain scheduling for Figure 12.16 as a function of Q. DATA FROM FIGURE 12.16

Question:

COULOMB fCOULOMB SSTICTION Force -ISTICTION Velocity Coulomb friction + Stiction + Viscous damping Total friction

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Control System Design Guide Using Your Computer To Understand And Diagnose Feedback Controllers

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