Tmax =
, interval =
sec.
u =
* x +
* vest. No limit on the drive
<![CDATA[ //Setup window ScaleWindow(-1,-1.5,tmax,1.5); DrawAxes(0,-1.5,tmax,1.5); xtarget=0; b=1; dt=.01; t=0; tnext=0; x=1; //Initial position xold=1; v=0; vest=0; u=0; //Input motor current Colour("blue"); Label("velocity",5,0.5); Colour("gray"); Label("input u",5,0.7); Colour("green") Label("vest",5,0.9); MoveTo (t, x); Colour("black"); loop(); ]]>
<![CDATA[ //Loop window if(t>tnext){ tnext=tnext+interval; vest=(x-xold)/interval; u = kx*(x - xtarget) + kv*vest; //This calculates the drive xold=x; } MoveTo(t,x); x = x + v*dt; //This is the simulation v = v + b*u*dt; t = t + dt; Colour("black"); LineTo(t, x); Colour("blue"); Spot(t,v); Colour("gray"); Spot(t,u); Colour("green"); Spot(t,vest); if(t<tmax){setTimeout("loop();", 1000*dt);} ]]>