Question: Use Experiments 18A and 18C to evaluate the robustness of an observer-based system in the presence of fluctuations of total inertia (JT). data from Experiment

Use Experiments 18A and 18C to evaluate the robustness of an observer-based system in the presence of fluctuations of total inertia (JT).

data from Experiment 18a

Vc VF I H Scale1: Scale2: 10 (Off 10 10 (Off 20

data from experiments 18c

Time: 0.001 (a)

a. Find the PM of the encoder system of Experiment 18A with nominal parameters, using VO as feedback.

b. Repeat with the total inertia reduced from 0.002 to 0.0014.

c. Repeat part a for the resolver-based system of Experiment 18C.

d. Repeat part b for the resolver-based system of Experiment 18C.

Vc VF I H Scale1: Scale2: 10 (Off 10 10 (Off 20 Time: 0.001 (a)

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