PART2

Controllers Constants
- No Gravity Kp Kv Ki
PD_v1 50 1,500 -
PD_v2-2. Version 10,000 300 -
PD_v2 50 19 -
PID 50 19 0
PD_PreAlimentación 0 0 -
50 12 -

- Gravity
PD_v1 50 1,500 -
PD_v2 50 13 -
PID 50 13 6
PD_PreAlimentación 50 12 -
PD_CompGrav 0 2,230 -
PD_PreAli_CompGrav 0 0 -
50 12 -

PART3
Controllers Constants
- ControlForce Kp Kv Ka Ki a
Implicit Control 25 40 -1.55 - -
PID control 190 0 - -20 -
PID control with Filter 3 20 - -0.5 50
Control PIV 8 100 - 0.5 -

Control PV with
reference torque 15 160 - - -
feedforward

- ControlForce-Hybrid Kpv Kp Kv Ki a
PID control 2 -0.6 0.5 -0.5 -
PID control with Filter 4 10 20 -0.5 100
Control PIV 4 40 5,000 0.1 -

Control PV with
reference torque 0.2 -0.8 500 - -
feedforward
Results
Square error (err[x])
4.33E-06
0.002291849358281
0.356309006716364
0.356309006716364
1.21E-06
1.50E-01

7.95E-07
0.158399293471573
0.141190310757893
0.140022335388758
1.23E-06
1.21E-06
1.50E-01