![[Graphics:../HTMLFiles/index_2173.gif]](../HTMLFiles/index_2173.gif)
Control experiment #5(c): 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_2174.gif]](../HTMLFiles/index_2174.gif)
Applied torques
![[Graphics:../HTMLFiles/index_2175.gif]](../HTMLFiles/index_2175.gif)
Animation
![[Graphics:../anim15.gif]](../anim15.gif)
Created by Mathematica (November 18, 2003)