On 01/09/2021 06:39 PM, Gene Heskett wrote:
Yes so idb drives it closer by overdriving it an "amount" so that the
friction locked point is closer to the desired point without going over.
The trick is to null the error without changing the sign of the error.
If the sign changes, then it oscillates, hard. So you can narrow the
friction caused deadband by a small amount of overdrive, but you also
cannot change the sign of the error.
Yes, that's the tricky part. Any time you introduce a
discontinuity into the transfer function,
it makes things unstable at that point.
Jon
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