I G(jw) I


log scale


-1 slope


-2 slope


-1 slope


1/'d


co (rad/sec)


Figure 8.24. Bode diagram of an open-loop compensated position control system.


tuning process, the position of joint 2 was varied so that the resulting controller would retain

the system's stability through any motion of the sliding joint. The final values for the position

controller parameters are shown in Table 8.6.


Table 8.6. Final position controller parameters for joints 0 and 1.

 Kc Ti Td
 Joint (D/A word)/deg (sec) (sec)
 0 15.0 3.7 1.5
 1 15.0 3.7 1.0