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calcmogul / controls-engineering-in-frc

Controls Engineering in the FIRST Robotics Competition: Graduate-level control theory for high schoolers.
BSD 3-Clause "New" or "Revised" License
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Word integration should be differentiation #10

Closed w-reynolds closed 4 years ago

w-reynolds commented 4 years ago

Amazing Book. Have only read first 16 pages and have already decided this is going to be our reference book for FRC Team 7433. Think I spotted an typo, could be wrong. Page 16 Section 2.6, Word in bold, integration should be differentiation. As the velocity is the derivative of position, not the integral of position.

If the setpoint follows a trapezoidal motion profile (see chapter 16), tuning becomes a lot easier. Plot the position setpoint, velocity setpoint, measured position, and measured velocity. The velocity setpoint can be obtained by numerical integration vdes,k = rk−rk−1 ∆t . Increase Kp until the position tracks well, then increase Kd until the velocity tracks well.

calcmogul commented 4 years ago

Yep. Will push a fix momentarily.

calcmogul commented 4 years ago

Thanks for the report. :) Glad you find the book useful.