myfbcd.py Sensitivity weighting should be (self.o_dgc/s)**2

shimodatakaki / mypy

mypy, an useful toolbox for control engineers

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myfbcd.py Sensitivity weighting should be (self.o_dgc/s)**2 #3

Closed shimodatakaki closed 6 years ago

shimodatakaki commented 6 years ago

Since PID + Plant has 1/s2 @ s~0, the sensitivity function of PID controller also is proportional to 1/s2. So for a fair comparison, PID + FIR should also have 1/s**2 weighting (to decrease sensitivity in the lower frequency); otherwise the controller no longer rejects low frequency disturbance such as friction.

shimodatakaki commented 6 years ago

Fixed @ 34b1178699150a1d5c8a7030f75b8a5e5a4140f1