3 ms·
It looks more like a cascade of a P controller (theta setpoint to gamma setpoint) with a PD controller (gamma setpoint to torque). But yeah, basically just clas
by andars 9y ago
It looks more like a cascade of a P controller (theta setpoint to gamma setpoint) with a PD controller (gamma setpoint to torque). But yeah, basically just classical control.
- jamessb 9y agoYes, except that there is also a threshold applied (sigma).