Feedback gains: Position = Velocity = Tilt = Tilt rate =
Tmax = dt= The drive is limited in magnitude to 1.
You can change the position target, xtarget = 0

<![CDATA[ //Setup window tmax=5; t=0; dt=.001; ScaleWindow(-1,-1.5,tmax,1.5); DrawAxes(0,-1.5,tmax,1.5); kx=document.xgain.value; kv=document.vgain.value; ktheta=document.thetagain.value; komega=document.omegagain.value; xtarget=0; x=0; v=0; theta=0.1; omega=0; u=0; //Input motor current Colour("black"); Label("Position",10,1.4); Colour("blue"); Label("Velocity",10,1.2); Colour("red"); Label("Tilt",10,1); Colour("green"); Label("Tilt-rate",10,0.8); Colour("gray"); Label("Drive u",10,0.6); MoveTo (t, x); Colour("black"); loop(); ]]>
//Loop window <![CDATA[ u=kx*(x-xtarget)+kv*v+ktheta*theta+komega*omega; Colour("black"); if (u>1){u=1; Colour("red");} //This applies the limit if (u<-1){u=-1; Colour("red");} MoveTo(t,x); x=x+v*dt; v=v+(-10*theta+10*u)*dt; theta=theta+omega*dt; omega=omega+(250*theta-125*u)*dt; t=t+dt; LineTo(t,x); Colour("black"); Spot(t,x); Colour("blue"); Spot(t,v); Colour("red"); Spot(t,theta*10); Colour("green"); Spot(t,omega); Colour("gray"); Spot(t,u); // document.xgain.value=t; if(t<tmax){setTimeout("loop();",10);} ]]>