2.WO     2.50
TIME (SECONDS)


1.50    2. DU    2.50
    TIME (SECONDS)


(a) Tracking error


Figure 7-19.


Manipulator's response: ref. = 3.0 Hz sinusoid with amplitude of 10 ; dist. = 4.5 Hz sinusoid with amplitude of 50 N; I.M. frequencies = 3.0 Hz and
4.5 Hz