Mono Posted January 15, 2018 Author Share Posted January 15, 2018 15 hours ago, Chriull said: The controller normaly works on the "error" (difference of actual value to desired value) - so a square function would not work out. The sign has to "survive". (Or the "error" always has to stay positive..) Sure. What I am saying is always modulo sign errors. I thought that goes without saying Of course it's the error squared times the error sign (or the negative of it, all modulo sign errors). 15 hours ago, Chriull said: An optimal transfer function can be calculated for a given system - as far as i have read again some articles revealing a bit if my fading memory of past education somehow with laplace transformation and step response... I guess that's true for linear systems. Taking the square gets into the nonlinear roam, AFAICS, where I doubt we can solve the inverse problem in general. In the single pendulum/cart case though we fully know the underlying physics and I would be surprised if the optimal control of the simple problem isn't rather obvious and known. But yeah, it's been I while since I have studied control theory... Link to comment Share on other sites More sharing options...
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