When setting Kd=-1 as argument to get_controlled_closed_loop(), the derivative gain is automagically computed to obtain a desired damping ratio zeta (another argument) for 2nd order plants. However, when ff_comp_switch='comp', i.e. a spring force compensation term is included, the derivative gain computation is not taking that into account.
When setting
Kd=-1as argument toget_controlled_closed_loop(), the derivative gain is automagically computed to obtain a desired damping ratiozeta(another argument) for 2nd order plants. However, whenff_comp_switch='comp', i.e. a spring force compensation term is included, the derivative gain computation is not taking that into account.