Control Parameters Simulation Parameters

Kp 3 Initial Position 1

Ki 0.8 Target Position 10

Kd 0.7 Time Step 0.025

Mass 0.1
Gravity Acc -25
Max Output -1
Max Accel -1

Initial Velocity 0
Initial Error -9
Initial Error Int. 0

Control Motion
12

10

8
Position

0
0 0.5 1 1.5 2 2.5 3

Time
 <-- can be 0 if you want system to control velocity instead of force
--> Min. Required Output: 2.5
<-- negative value indicates no maximum
<-- negative value indicates no maximum

<-- Suggested: -9
<-- Steady State: -3.125 -2.76861571

ontrol Motion

5 2 2.5 3 3.5 4

Time
Time Position Target Error Int. Error Der. Error
0 1 10 -9 -0.225 0
0.025 1.15425 10 -8.84575 -0.44614375 6.17
0.05 1.43396978 10 -8.56603022 -0.66029451 11.1887913
0.075 1.81302814 10 -8.18697186 -0.8649688 15.1623343
0.1 2.26795685 10 -7.73204315 -1.05826988 18.1971485
0.125 2.7779152 10 -7.2220848 -1.238822 20.3983338
0.15 3.32461403 10 -6.67538597 -1.40570665 21.8679534
0.175 3.89220759 10 -6.10779241 -1.55840146 22.7037424
0.2 4.46716039 10 -5.53283961 -1.69672245 22.9981121
0.225 5.03809581 10 -4.96190419 -1.82077005 22.8374166
0.25 5.59563208 10 -4.40436792 -1.93087925 22.3014509
0.275 6.1322108 10 -3.8677892 -2.02757398 21.4631488
0.325 6.64192216 10 -3.35807784 -2.11152593 20.3884544
0.35 7.12033062 10 -2.87966938 -2.18351766 19.1363385
0.375 7.56430399 10 -2.43569601 -2.24441006 17.7589348
0.4 7.97184837 10 -2.02815163 -2.29511385 16.3017752
0.425 8.3419509 10 -1.6580491 -2.33656508 14.8041011
0.45 8.67443173 10 -1.32556827 -2.36970429 13.2992332
0.475 8.96980634 10 -1.03019366 -2.39545913 11.8149845
0.5 9.22915882 10 -0.77084118 -2.41473016 10.3740992
0.525 9.45402654 10 -0.54597346 -2.4283795 8.99470879
0.55 9.64629631 10 -0.35370369 -2.43722209 7.69079074
0.575 9.80811193 10 -0.19188807 -2.44201929 6.47262455
0.6 9.94179281 10 -0.05820719 -2.44347447 5.34723516
0.625 10.0497633 10 0.04976329 -2.44223039 4.3188193
0.65 10.134492 10 0.13449203 -2.43886809 3.38914953
0.675 10.1984409 10 0.19844085 -2.43390707 2.55795296
0.7 10.2440224 10 0.2440224 -2.42780651 1.82326197
0.725 10.2735658 10 0.27356579 -2.42096736 1.18173563
0.75 10.2892896 10 0.28928957 -2.41373512 0.62895102
0.775 10.2932812 10 0.29328118 -2.40640309 0.15966444
0.8 10.2874822 10 0.28748225 -2.39921604 -0.2319571
0.825 10.2736789 10 0.27367892 -2.39237406 -0.55213309
0.85 10.2534966 10 0.25349657 -2.38603665 -0.80729417
0.875 10.2283982 10 0.22839825 -2.38032669 -1.00393279
0.9 10.1996863 10 0.1996863 -2.37533453 -1.1484779
0.925 10.1685065 10 0.1685065 -2.37112187 -1.24719209
0.95 10.1358543 10 0.13585427 -2.36772552 -1.30608897
0.975 10.1025825 10 0.10258255 -2.36516095 -1.330869
1 10.0694108 10 0.06941076 -2.36342568 -1.32687165
1.025 10.0369347 10 0.03693471 -2.36250232 -1.29904204
1.05 10.005637 10 0.00563695 -2.36236139 -1.25191025
1.075 9.97589742 10 -0.02410258 -2.36296396 -1.18958139
1.1 9.94800404 10 -0.05199596 -2.36426385 -1.11573492
1.125 9.92216325 10 -0.07783675 -2.36620977 -1.03363157
1.15 9.89851009 10 -0.10148991 -2.36874702 -0.94612653
1.175 9.8771179 10 -0.1228821 -2.37181907 -0.85568755
1.2 9.85800748 10 -0.14199252 -2.37536889 -0.76441684
1.225 9.84115559 10 -0.15884441 -2.37934 -0.67407573
 1.25 9.82650281 10 -0.17349719 -2.38367743 -0.58611117
1.275 9.81396072 10 -0.18603928 -2.38832841 -0.50168333
1.3 9.80341838 10 -0.19658162 -2.39324295 -0.42169361
1.325 9.79474807 10 -0.20525193 -2.39837425 -0.34681243
1.35 9.78781041 10 -0.21218959 -2.40367899 -0.27750646
1.375 9.78245879 10 -0.21754121 -2.40911752 -0.21406484
1.4 9.77854319 10 -0.22145681 -2.41465394 -0.15662408
1.425 9.7759134 10 -0.2240866 -2.4202561 -0.10519147
1.45 9.77442173 10 -0.22557827 -2.42589556 -0.0596668
1.475 9.77392518 10 -0.22607482 -2.43154743 -0.01986229
1.5 9.77428716 10 -0.22571284 -2.43719025 0.01447921
1.525 9.77537886 10 -0.22462114 -2.44280578 0.04366803
1.55 9.77708018 10 -0.22291982 -2.44837877 0.06805314
1.575 9.77928042 10 -0.22071958 -2.45389676 0.08800946
1.6 9.78187859 10 -0.21812141 -2.4593498 0.10392684
1.625 9.78478361 10 -0.21521639 -2.46473021 0.11620066
1.65 9.78791421 10 -0.21208579 -2.47003235 0.12522388
1.675 9.79119872 10 -0.20880128 -2.47525239 0.13138052
1.7 9.79457473 10 -0.20542527 -2.48038802 0.13504036
1.725 9.7979886 10 -0.2020114 -2.4854383 0.13655486
1.75 9.80139495 10 -0.19860505 -2.49040343 0.13625397
1.775 9.80475605 10 -0.19524395 -2.49528453 0.134444
1.8 9.8080412 10 -0.1919588 -2.5000835 0.13140617
1.825 9.8112261 10 -0.1887739 -2.50480285 0.12739589
1.85 9.81429216 10 -0.18570784 -2.50944554 0.1226426
1.875 9.81722592 10 -0.18277408 -2.51401489 0.11735013
1.9 9.82001835 10 -0.17998165 -2.51851443 0.1116974
1.925 9.82266434 10 -0.17733566 -2.52294783 0.10583948
1.95 9.82516206 10 -0.17483794 -2.52731877 0.09990888
1.975 9.82751249 10 -0.17248751 -2.53163096 0.09401703
2 9.82971888 10 -0.17028112 -2.53588799 0.08825588
2.025 9.83178637 10 -0.16821363 -2.54009333 0.08269953
2.05 9.83372152 10 -0.16627848 -2.54425029 0.077406
2.075 9.83553199 10 -0.16446801 -2.54836199 0.07241887
2.1 9.83722622 10 -0.16277378 -2.55243134 0.06776897
2.125 9.83881312 10 -0.16118688 -2.55646101 0.063476
2.15 9.84030187 10 -0.15969813 -2.56045346 0.05955006
2.175 9.8417017 10 -0.1582983 -2.56441092 0.05599309
2.2 9.8430217 10 -0.1569783 -2.56833538 0.05280021
2.225 9.84427073 10 -0.15572927 -2.57222861 0.04996097
2.25 9.84545724 10 -0.15454276 -2.57609218 0.04746048
2.275 9.84658925 10 -0.15341075 -2.57992745 0.0452804
2.3 9.84767425 10 -0.15232575 -2.58373559 0.04339988
2.325 9.84871916 10 -0.15128084 -2.58751761 0.04179634
2.35 9.84973031 10 -0.15026969 -2.59127435 0.04044613
2.375 9.85071344 10 -0.14928656 -2.59500652 0.0393252
2.4 9.85167368 10 -0.14832632 -2.59871468 0.03840952
2.425 9.85261556 10 -0.14738444 -2.60239929 0.03767553
2.45 9.85354308 10 -0.14645692 -2.60606071 0.03710049
2.475 9.85445965 10 -0.14554035 -2.60969922 0.03666274
 2.5 9.85536819 10 -0.14463181 -2.61331501 0.03634187
2.525 9.85627116 10 -0.14372884 -2.61690824 0.0361189
2.55 9.85717057 10 -0.14282943 -2.62047897 0.03597637
2.575 9.85806803 10 -0.14193197 -2.62402727 0.03589837
2.6 9.8589648 10 -0.1410352 -2.62755315 0.03587058
2.625 9.8598618 10 -0.1401382 -2.63105661 0.03588026
2.65 9.86075971 10 -0.13924029 -2.63453761 0.03591618
2.675 9.86165892 10 -0.13834108 -2.63799614 0.03596859
2.7 9.86255965 10 -0.13744035 -2.64143215 0.03602912
2.725 9.86346192 10 -0.13653808 -2.6448456 0.03609072
2.75 9.86436561 10 -0.13563439 -2.64823646 0.03614752
2.775 9.86527048 10 -0.13472952 -2.6516047 0.03619479
2.8 9.8661762 10 -0.1338238 -2.65495029 0.03622878
2.825 9.86708236 10 -0.13291764 -2.65827323 0.03624666
2.85 9.86798852 10 -0.13201148 -2.66157352 0.03624637
2.875 9.86889419 10 -0.13110581 -2.66485117 0.03622656
2.9 9.86979885 10 -0.13020115 -2.6681062 0.03618651
2.925 9.870702 10 -0.129298 -2.67133865 0.03612597
2.95 9.87160313 10 -0.12839687 -2.67454857 0.03604516
2.975 9.87250174 10 -0.12749826 -2.67773602 0.03594462
3 9.87339737 10 -0.12660263 -2.68090109 0.03582521
3.025 9.87428957 10 -0.12571043 -2.68404385 0.03568799
3.05 9.87517793 10 -0.12482207 -2.6871644 0.03553418
3.075 9.87606206 10 -0.12393794 -2.69026285 0.03536513
3.1 9.87694161 10 -0.12305839 -2.69333931 0.03518226
3.125 9.87781629 10 -0.12218371 -2.6963939 0.03498702
3.15 9.87868581 10 -0.12131419 -2.69942676 0.03478085
3.175 9.87954994 10 -0.12045006 -2.70243801 0.0345652
3.2 9.88040848 10 -0.11959152 -2.7054278 0.03434144
3.225 9.88126125 10 -0.11873875 -2.70839627 0.03411089
3.25 9.88210812 10 -0.11789188 -2.71134356 0.0338748
3.275 9.88294898 10 -0.11705102 -2.71426984 0.03363433
3.3 9.88378374 10 -0.11621626 -2.71717524 0.03339056
3.325 9.88461235 10 -0.11538765 -2.72005994 0.03314446
3.35 9.88543477 10 -0.11456523 -2.72292407 0.0328969
3.375 9.88625099 10 -0.11374901 -2.72576779 0.03264868
3.4 9.887061 10 -0.112939 -2.72859127 0.03240047
3.425 9.88786482 10 -0.11213518 -2.73139465 0.03215289
3.45 9.88866249 10 -0.11133751 -2.73417808 0.03190645
3.475 9.88945403 10 -0.11054597 -2.73694173 0.03166157
3.5 9.89023949 10 -0.10976051 -2.73968575 0.03141862
3.525 9.89101894 10 -0.10898106 -2.74241027 0.0311779
3.55 9.89179243 10 -0.10820757 -2.74511546 0.03093961
3.575 9.89256003 10 -0.10743997 -2.74780146 0.03070395
3.6 9.8933218 10 -0.1066782 -2.75046842 0.03047103
3.625 9.89407783 10 -0.10592217 -2.75311647 0.03024093
3.65 9.89482817 10 -0.10517183 -2.75574577 0.03001369
3.675 9.8955729 10 -0.1044271 -2.75835644 0.02978932
3.7 9.8963121 10 -0.1036879 -2.76094864 0.0295678
3.725 9.89704582 10 -0.10295418 -2.7635225 0.02934909
 3.75 9.89777415 10 -0.10222585 -2.76607814 0.02913313
3.775 9.89849715 10 -0.10150285 -2.76861571 0.02891985
Output Clipped Output Target Velocity Required Acc Clipped Acc
27.18 27.18 6.795 271.8 271.8
22.575165 22.575165 11.81379125 225.75165 225.75165
18.3941723856 18.3941723856 15.7873343464 183.9417239 183.9417239
14.6392565794 14.6392565794 18.8221484912 146.3925658 146.3925658
11.3047414041 11.3047414041 21.0233338423 113.047414 113.047414
8.3784783162 8.3784783162 22.4929534213 83.78478316 83.78478316
5.8431558236 5.8431558236 23.3287423772 58.43155824 58.43155824
3.6774787243 3.6774787243 23.6231120583 36.77478724 36.77478724
1.8572183353 1.8572183353 23.4624166421 18.57218335 18.57218335
0.3561369623 0.3561369623 22.9264508827 3.561369623 3.561369623
-0.853208464 -0.853208464 22.0881487667 -8.53208464 -8.53208464
-1.7987773563 -1.7987773563 21.0134544276 -17.98777356 -17.98777356
-2.5084638443 -2.5084638443 19.7613384665 -25.08463844 -25.08463844
-3.009614669 -3.009614669 18.3839347993 -30.09614669 -30.09614669
-3.3286382918 -3.3286382918 16.9267752263 -33.28638292 -33.28638292
-3.4906967002 -3.4906967002 15.4291010513 -34.906967 -34.906967
-3.5194713745 -3.5194713745 13.9242332077 -35.19471375 -35.19471375
-3.4369950092 -3.4369950092 12.4399844554 -34.36995009 -34.36995009
-3.2635408436 -3.2635408436 10.9990992445 -32.63540844 -32.63540844
-3.0175618158 -3.0175618158 9.6197087905 -30.17561816 -30.17561816
-2.7156721882 -2.7156721882 8.3157907435 -27.15672188 -27.15672188
-2.3726647873 -2.3726647873 7.0976245467 -23.72664787 -23.72664787
-2.001557529 -2.001557529 5.9722351644 -20.01557529 -20.01557529
-1.6136634549 -1.6136634549 4.9438193007 -16.13663455 -16.13663455
-1.2186790636 -1.2186790636 4.0141495348 -12.18679064 -12.18679064
-0.8247862831 -0.8247862831 3.182952964 -8.247862831 -8.247862831
-0.4387639728 -0.4387639728 2.4482619708 -4.387639728 -4.387639728
-0.0661053734 -0.0661053734 1.8067356275 -0.661053734 -0.661053734
0.2888615791 0.2888615791 1.2539510223 2.888615791 2.888615791
0.6228536848 0.6228536848 0.7846644434 6.228536848 6.228536848
0.9335138331 0.9335138331 0.3930429017 9.335138331 9.335138331
1.2192960497 1.2192960497 0.0728669142 12.1929605 12.1929605
1.479355644 1.479355644 -0.1822941748 14.79355644 14.79355644
1.7134455381 1.7134455381 -0.3789327903 17.13445538 17.13445538
1.9218195632 1.9218195632 -0.5234778995 19.21819563 19.21819563
2.1051432561 2.1051432561 -0.6221920855 21.05143256 21.05143256
2.2644124627 2.2644124627 -0.6810889698 22.64412463 22.64412463
2.400879869 2.400879869 -0.7058690025 24.00879869 24.00879869
2.5159894161 2.5159894161 -0.7018716485 25.15989416 25.15989416
2.6113184268 2.6113184268 -0.6740420418 26.11318427 26.11318427
2.6885271611 2.6885271611 -0.6269102515 26.88527161 26.88527161
2.7493154378 2.7493154378 -0.5645813921 27.49315438 27.49315438
2.7953858923 2.7953858923 -0.490734919 27.95385892 27.95385892
2.8284133992 2.8284133992 -0.4086315692 28.28413399 28.28413399
2.8500201569 2.8500201569 -0.32112653 28.50020157 28.50020157
2.8617559174 2.8617559174 -0.2306875506 28.61755917 28.61755917
2.8650828401 2.8650828401 -0.1394168406 28.6508284 28.6508284
2.8613644566 2.8613644566 -0.0490757264 28.61364457 28.61364457
2.8518582444 2.8518582444 0.0388888347 28.51858244 28.51858244
2.8377113329 2.8377113329 0.1233166679 28.37711333 28.37711333
2.819958885 2.819958885 0.2033063891 28.19958885 28.19958885
2.7995247333 2.7995247333 0.2781875725 27.99524733 27.99524733
2.7772238755 2.7772238755 0.3474935413 27.77223876 27.77223876
2.7537664735 2.7537664735 0.4109351597 27.53766473 27.53766473
2.7297630278 2.7297630278 0.4683759167 27.29763028 27.29763028
2.7057304404 2.7057304404 0.5198085268 27.0573044 27.0573044
2.6820987058 2.6820987058 0.5653332032 26.82098706 26.82098706
2.6592180074 2.6592180074 0.605137705 26.59218007 26.59218007
2.6373660247 2.6373660247 0.6394792112 26.37366025 26.37366025
2.6167552864 2.6167552864 0.6686680328 26.16755286 26.16755286
2.5975404317 2.5975404317 0.6930531408 25.97540432 25.97540432
2.5798252669 2.5798252669 0.7130094575 25.79825267 25.79825267
2.5636695275 2.5636695275 0.7289268394 25.63669527 25.63669527
2.5490952754 2.5490952754 0.7412006582 25.49095275 25.49095275
2.5360928806 2.5360928806 0.7502238784 25.36092881 25.36092881
2.5246265515 2.5246265515 0.7563805162 25.24626552 25.24626552
2.5146393919 2.5146393919 0.7600403642 25.14639392 25.14639392
2.5060579765 2.5060579765 0.7615548583 25.06057976 25.06057976
2.4987964442 2.4987964442 0.7612539694 24.98796444 24.98796444
2.4927601198 2.4927601198 0.7594439994 24.9276012 24.9276012
2.4878486779 2.4878486779 0.7564061688 24.87848678 24.87848678
2.4839588726 2.4839588726 0.752395887 24.83958873 24.83958873
2.4809868564 2.4809868564 0.7476426011 24.80986856 24.80986856
2.4788301181 2.4788301181 0.7423501306 24.78830118 24.78830118
2.4773890693 2.4773890693 0.7366973979 24.77389069 24.77389069
2.4765683103 2.4765683103 0.7308394755 24.7656831 24.7656831
2.4762776085 2.4762776085 0.7249088776 24.76277609 24.76277609
2.47643262 2.47643262 0.7190170326 24.7643262 24.7643262
2.4769553843 2.4769553843 0.7132558787 24.76955384 24.76955384
2.4777746234 2.4777746234 0.7076995345 24.77774623 24.77774623
2.4788258718 2.4788258718 0.7024060025 24.78825872 24.78825872
2.4800514636 2.4800514636 0.6974188684 24.80051464 24.80051464
2.4814004024 2.4814004024 0.692768969 24.81400402 24.81400402
2.4828281349 2.4828281349 0.6884760027 24.82828135 24.82828135
2.4842962487 2.4842962487 0.6845500649 24.84296249 24.84296249
2.4857721129 2.4857721129 0.6809930931 24.85772113 24.85772113
2.4872284772 2.4872284772 0.6778002125 24.87228477 24.87228477
2.4886430437 2.4886430437 0.6749609734 24.88643044 24.88643044
2.4899980235 2.4899980235 0.6724604793 24.89998024 24.89998024
2.4912796887 2.4912796887 0.6702804014 24.91279689 24.91279689
2.492477928 2.492477928 0.6683998834 24.92477928 24.92477928
2.4935858144 2.4935858144 0.6667963371 24.93585814 24.93585814
2.4945991885 2.4945991885 0.6654461342 24.94599189 24.94599189
2.4955162643 2.4955162643 0.6643252003 24.95516264 24.95516264
2.4963372593 2.4963372593 0.6634095151 24.96337259 24.96337259
2.4970640517 2.4970640517 0.662675528 24.97064052 24.97064052
2.4976998668 2.4976998668 0.6621004947 24.97699867 24.97699867
2.4982489915 2.4982489915 0.6616627426 24.98248991 24.98248991
2.4987165194 2.4987165194 0.6613418724 24.98716519 24.98716519
2.4991081242 2.4991081242 0.6611189035 24.99108124 24.99108124
2.4994298614 2.4994298614 0.6609763688 24.99429861 24.99429861
2.4996879965 2.4996879965 0.6608983679 24.99687997 24.99687997
2.4998888589 2.4998888589 0.6608705827 24.99888859 24.99888859
2.5000387189 2.5000387189 0.6608802624 25.00038719 25.00038719
2.5001436873 2.5001436873 0.6609161842 25.00143687 25.00143687
2.5002096341 2.5002096341 0.6609685927 25.00209634 25.00209634
2.5002421252 2.5002421252 0.661029124 25.00242125 25.00242125
2.5002463759 2.5002463759 0.661090718 25.00246376 25.00246376
2.5002272179 2.5002272179 0.6611475225 25.00227218 25.00227218
2.5001890784 2.5001890784 0.6611947921 25.00189078 25.00189078
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