Controller

epl

rpl
+

rRPMl evl
Kpl
Kvl
+
-

PWMl

Pvl

RPMl

Ppl

pl

Kdi
rpr
+

epr
-

Kpr

rRPMr evr
PWMr
RPMr
Pvr
Kvr
+
-

Ppr

Ave

Dif

pr

Kdifr

Nota3on
rpl: Reference Posi3on Le9
epl: Error Posi3on Le9

Kpl: Controller Posi3on Le9
rRPMl: Reference RPM Le9
evl: Error Velocity Le9
Kvl: Controller Velocity Le9
PWMl: PWM Le9
Pvl: Plant Velocity Le9
RPMl: RPM Le9
Ppl: Plant Posi3on Le9
Pl: Posi3on Le9
Kdif: Controller Velocity Dierence
Ave: Average

rpr: Reference Posi3on Right

epr: Error Posi3on Right

Kpr: Controller Posi3on Right
rRPMr: Reference RPM Right
evr: Error Velocity Right
Kvr: Controller Velocity Right
PWMr: PWM Right
Pvr: Plant Velocity Right
RPMr: RPM Right
Ppr: Plant Posi3on Right
Pr: Posi3on Right
Kdif: Controller Velocity Dierence
Ave: Average