971's Control System

[Jared Russell]

What are your typical control loop rates, and what states are you generally tracking in your formulation (position/velocity/acceleration?). In the case of the higher order derivatives, are you filtering the measurements at all (in your observers or otherwise)?

I understand state space control, but have found that getting a smooth velocity/acceleration signal to be one of the "dark arts" when I have played with it in the past.