With everything (basically) working, and a reasonable way to generate disturbances, I was able to run the full-blown IIR controller yesterday without any problems. I'd like to be a little more rigorous though and so some id on the closed-loop plant, and play around more with the number of modes to get a sense of how the handling is going to be. Luckily, running 5000 samples takes a few minutes now instead of an hour.
- Verify closed-loop (classical) plant matches model
- Close classical loop with different number of modes. Any instability or saturation?
- Set up target camera with CMU driver
The objective is to have the target camera working, and a good idea of the max number of modes I can use by the end of the week.
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On the edge of incompetence
1 comment:
There is obviously a lot to know about this. I think you made some good points in Features also. Keep working ,great job!
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