Position negative feedback gain =
Velocity negative feedback gain =

Click in the window to start a new run
<![CDATA[ //Setup window tmax=300; ScaleWindow(-1,-.75,1,.75); kx=eval(document.buttons.posgain.value); kv=eval(document.buttons.velgain.value); b=1; dt=.01; t=0; x=-1; //Initial position v=-0.75; u=0; //Input motor current Colour("white"); ctx.fillStyle="white"; ctx.beginPath(); MoveTo(0.75*kv/kx-1/kx,-0.75); LineTo(-0.75*kv/kx-1/kx,0.75); LineTo(-0.75*kv/kx+1/kx,0.75); LineTo(0.75*kv/kx+1/kx,-0.75); LineTo(0.75*kv/kx-1/kx,-0.75); ctx.closePath(); ctx.fill(); Colour("teal"); MoveTo(0.75*kv/kx,-0.75); LineTo(-0.75*kv/kx,0.75); DrawAxes(-1,-.75,1,.75); MoveTo (x, v); loop(); ]]>
<![CDATA[ //Loop window Colour("black"); xtarget=0; u = kx*(xtarget - x) -kv*v; //This calculates the drive if(u>1){u=1;Colour("red");} if(u<-1){u=-1;Colour("red");} MoveTo(x,v); x = x + v*dt; //This is the simulation v = v + b*u*dt; t = t + dt; LineTo(x, v); if(t<tmax){setTimeout("loop();", 1000*dt);} ]]>