Keeping two motors in sync

[Ether]

Originally Posted by Kevin Sevcik

Ether,
I think your pseudo code implements your proposed controller correctly, I'm just not entirely certain the actual dynamics would work as intended. I think it'd take a good deal of tweaking to get your slave's I value tuned well enough that it's going to fight that RLPC trying to drag it upwards with ever increasing error.

The purpose of the position command rate-limiting (RLPC) is to help M2's integrator keep up. Yes it's an integrator so it's going to lag somewhat, but don't forget the contribution of M2's proportional action which has no lag.

The best way to settle the matter I guess is to run it on hardware or a simulation.