![[Graphics:../HTMLFiles/index_2018.gif]](../HTMLFiles/index_2018.gif)
Control experiment #5(b): Partitioned control with imperfect model (larger gains)
Control simulation specifications
| Kp gains: | 100 | 49 | |
| Kv gains: | 20 | 14 | |
| Ki gains: | 10 | 7 | |
| Robot type: | 2 | ||
| Controller type: | 6 | ||
| Start: | 0s | 0rad | 0rad |
| Goal: | 10s | 0.7854rad | 1.5708rad |
| Simulation time: | 15s | ||
| Control frequency: | 100Hz | ||
Visualization of results
Join trajectories
Error plot
![[Graphics:../HTMLFiles/index_2019.gif]](../HTMLFiles/index_2019.gif)
Applied torques
![[Graphics:../HTMLFiles/index_2020.gif]](../HTMLFiles/index_2020.gif)
Animation
![[Graphics:../anim14.gif]](../anim14.gif)
Created by Mathematica (November 18, 2003)