Hey guys/gals,
The block diagram attached is a PI controlled robotic joint system where:
G(s)=Kp+(Ki/s)
P(s)=48500/(s^2+2.89s)
R(s)= joint’s desired angular position
C(s)= joint’s angular position
D(s)= external disturbance
G(s)= PI controller
ess= Steady State Error
My...