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Force ↦

0 N

Controller

Control Position
F = -k·θ - k·∫θdt - k·ω + kPx·x + kIx·∫xdt + kDx·v

Gains

k
k
k
kPx
kIx
kDx

States

x m
v m/s
θ↑↺ rad
ω rad/s

Properties

mc kg
mb kg
L m
b Ns/m
FD N

for seconds
1kg