Tmax =
, dt =
u =
* xq +
* 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; x=1; //Initial position xq=1; xqold=1; v=0; vest=0; u=0; //Input motor current Colour("blue"); Label("Estimated velocity",5,0.5); b=1; t=0; MoveTo (t, x); Colour("black"); loop(); ]]>
<![CDATA[ //Loop window u = kx*(xq-xtarget)+kv*vest; //Calculates the drive xqold=xq; Colour("black"); MoveTo(t,xq); x = x + v*dt; //This is the simulation v = v + b*u*dt; t = t + dt; LineTo(t, xq); xq=Math.round(100*x)/100; vest=(xq-xqold)/dt; Colour("blue"); Spot(t,vest); Colour("black"); Label("quantised position",5,0.9); if(t<tmax){setTimeout("loop();", 1000*dt);} ]]>