Table 1 Values selected for controller parameters
Component | Parameter | Value | Unit |
|---|---|---|---|
Controlled system | m | 0.0144 | \(\text {kg}\) |
c | 0 | \(\text {{N s}/{m}}\) | |
k | 2.400549 | \(\text {{N}/{m}}\) | |
\(b_0\) | \(-1.600366\) | \(\text {{N}/{m}}\) | |
e | 0.01 | 1 | |
State-feedback | \({\mathbf {Q}}\) | \({\mathbf {I}}\) | – |
r | 1 | – | |
\(k_{R1}\) | \(-0.3028\) | \(\text {1}\) | |
\(k_{R2}\) | \(-1.0027\) | \(\text {s}\) | |
State observer | \(\lambda _{\mathrm {B}}\) | \(-2000\) | \(\text {{rad}/{s}}\) |
\(k_{\mathrm {B}}\) | 2000 | \(\text {{rad}/{s}}\) |