I.5U    2.ODD    2. 5D
     TIME (SECONDS)

(a) Tracking error


Figure 7-21. Manipulator's response:
              amplitude of 10 ; dist.
              amplitude of 50 N; I.M.
              4.5 Hz, and 6.0 Hz


ref. = 3.0 Hz sinusoid with = 4.5 Hz sinusoid with frequencies = 0 Hz, 3.0 Hz,


MADD