Sty-tt trcking & y. ty Unity fck control: um CL tl lnt r C y - r - o.l. y y r ol ol o.l. m m n n n N N N N N, N,, ut N N, m,
ol.. clo-loo: y r ol.. trcking rror: r y r ty-tt trcking: t r ol.. ol.. For t inut: r to t ol..
A ytm of ty or highr cn trck t inut with zro. o.. l o.. l For unit t inut: for ty for ty or highr R If t i not unit: r, thn R for ty for ty or highr
cont cll ttic locity rror not : to rm rm : i unit If r r r ol ol ol ol ol rt t
ignl. trck rm inut ty ytm cn not to rm ty ytm, For n m m N,,
. non- zro ty tt rror tyytm trckrm with finit to rm finit, ty: For n m m n m m N,!,,,
For ty or highr, N,3, m n, to rm m m n 3 3 cncl on till h fctor m ty or highr ytm cn trck rm inut with no 3.
ty if thn : unit, rm i not If ty if ty if ty if : rm inut unit For R R r
: 3 t t t r r cclrtion inut unit r 3 to cc rt t
i th cclrtion rror contnt. For ty ytm, no fctor of in n. to cc m m n
ig. cc. trct t ytm cn' ty or to cc u i.. in n. of i..on fctor. in of on fctor tyytm, For n n n m m,
ty : N, two fctor of in or, two fctor of in n. or,, m m n n n to cc ty ytm cn trct cc ig. with finit.. rror.
Sty-tt trcking & y. ty lnt r C y - o.l. m m n n n N N N N Sytm ty N #fctor of in nomintor Ty : N,, /, Ty :N,,,, /, Ty :N,,,, /
Sttic oition rror cont : Sttic locity rror cont : to t Sttic cclrtion rror cont : to rm to cc Auming clo-loo ytm tility ol ol ol
y. ty rf. inut rtu t r/ rttu t r/ rt ½t u t r/ 3 ty N / / ty N / / ty, N / /, ty 3, N 3
Exml: wtr tnk ll control P P P l o P P R R N RA R H C C RA R H to cc to rm to t, ty,, control :.. H - C
PI control: m H, I P I ut C P P I R CH RA on fctor of in n, N ty, R, I to t to rm R to cc I
y toty tt trckingiy. ty. y. ty w.r.t. r i # in i.. # in th on loo T.F. # in th th from following th loo to th r.g. I r ω n ξ ω - n T count # in th : ty w.r.t. r
xml 3.5.5.5 fin ytm ty, rror contnt & ty tt rror to t. rm. cc. Not : No inut or it. cifi. Tk fult : r y thr i on, ty
3.5.5.5 for ty to cc for to t to rm ty for for ty ty 4. 4.
5 5, 5 5 to cc ty to rm to t ty ty, # Exml :
Exml : ut c. l, #, ty. 3 h o. ol for ny clo - loo ytm i untl. for ny inut. h to h c.l. tility.
yt. ty w.r.t. iturnc inut : # long th th from to " " whr th it. ntr. If thr r multil it., r multil yt.ty. ty h finit tycn rjct cont it. h finit thr to tit. to rm or cc it. to rm it
h ty cn rjct t or rm it. h finit ty 3 or highr cn rjct t or rm or cc it. cn h imilr tl only iffrnc : to cc it. to cc it to t for. for it
I - r ω n ζ ω n T A B 3,, ;, A I I I if if if u to ty on to th th from t look to With rct
3 ; : B n I n I n n I if or if u to ytm i ty w.r.t of totl to th th from t look to. r. W. ω ζ ζ ω ζω ω
Totl ty tt rror u to r u to u to r,, cn ny com. of t, rm, cc, or zro. If ithr comonnt, thn
Exml c : r t,, ty w.r.t r i cn rjct t c : r t t, gin ty w.r.t r u to rm c 3 : r t, t, u tot r ty u tot ty w.r.t
& c 4 : r totl t, u to t r u to rm ty w.r.t. not rnt. totl inot rnt I t t, ty I
c 5 : r t t, not rnt u to ty w.r.t r t t, u to rm r ty w.r.t totl u to cc
T V I in V T m - L R J - V T V I in V T m - L R J - V