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.