Robot with Limits

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). Key here is the motor output is limited so it cannot exceed the specified maximum value. 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.

Move sliders to change values of Input I and Disturbance D and see how Output O changes as a result.

Click on C, M, L(imit) and S blocks to change their gains, and see how these affect O.

Plots of O vs I (with D = 0) and O vs D (with 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. But Limits impact this. When you move sliders, you see where you are on the graph.

Strictly the limiting values vary when both I and D are non zero, but that complicates matters.

Reset Sliders Set I Set D Find I at Lim Find D at Lim

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