After reading the docs regarding the RamseteController gains(kB and kZeta)
Gains of 2.0 and 0.7 for b and zeta have been tested repeatedly to produce desirable results when all units were in meters.
I was curious as to how changing units would affect those gains and if they could be converted to other units easily. If anyone could shed some light on the topic that would be appreciated!
The gains assume SI units. I did the dimensional analysis for other options before and got a logical contradiction (that is, starting from different terms in the equations and coming up with two different units for the same variable like 1/L^2 vs [rad]/L). I’d stick with SI units if I were you.
Thanks for the recommendation and the resource. I’m also excited to look into more what of the document you shared talks about, it seems very intriguing.
