Robot Feedback

A control system is shown : C is controller, M is robot motor being controlled, S is sensor - (ideally the measured output is the same as actual). I is command input, D is disturbance input and O is the output, which is fedback.

The aim is O = I despite effects of D.

This page shows how feedback helps make O closer to desired (set by I) and be less affected by disturbance, though is impacted by measurement errors S.

If you set S to 0 then in effect the system is open loop!

Move sliders to change values of I and D and see how O changes as a result. Click on C, M and S blocks to change their gains, and see how these affect O.

You can also define values for I and D using buttons provided, and reset then to 0.

Plots of O vs I (assuming D = 0) and O vs D (assuming I = 0) are shown: ideally O vs I is a straight line of gradient 1, ie O = I; and O vs D is a line of gradient zero, ie D does not change O.

When you move the sliders, you see where you are on the graph.

Reset I and D Set input I Set disturbance D

Go Back