Updated tuning rules are incorrect in equation (11.10b)
From FBSwiki
| Edition | Second |
|---|---|
| Version number | 3.0j |
| Submission date | 31 Aug 2019 |
| Your name | Richard Murray |
| E-mail address | murray@cds.caltech.edu |
| Chapter | 11 |
| Page number | 11-13 |
| Line number | 22, 23 |
| Current status | Closed |
The gains listed for the improved tuning rules are incorrect. For the frequency response in equation (11.10b), the correct gains are $k_p = 0.16 k_c$ and $k_i = (0.16 k_c + 0.72/K)/T_c.
