yes the integral term can have a constant output

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Unformatted text preview: the integral term can have a constant output Problem: the integral term tends to slow down the response and perhaps destabilize the system – why? Solution: use both proportional and velocity (derivative) feedback control plus a offset voltage: +- ++ + + The offset (feedforward) term to the motor • The offset voltage is to generate the torque to balance the load against the gravity Torque generated by Voff for balancing the load For critical damping • If we want critical damping – fast reaction with no-overshoot: 2 1 • • / ) K1 and K2 will work together for a particular motor: R, B, and J Note that • / + + When n is large, the load inertia and damping can be ignored...
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