Quote:
Originally Posted by Jared Russell
For problem #2, if you formulate your state space and controller correctly, you should see the velocity state of your output behave as desired (matching the velocity reference if there is no position error, and adjusting +/- depending on position tracking). However, this requires designing a MIMO controller, so you need to use a method suitable for doing so, since you need to choose a K matrix that's makes tradeoffs between multiple objectives (LQR is one common approach). As a quick workaround, you can use apply separate position and velocity FSF controllers and sum their outputs.
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Won't trajectory tracking require feed forwards as well? Maybe that's a side effect of how I've been formulating our controllers.
U = K (R - X) + FF(R)