Differences

This shows you the differences between two versions of the page.

--- marvin:lab4 [2008/10/03 11:37] – rieper
+++ marvin:lab4 [2008/10/03 11:39] (current) – rieper
@@ Line 41: / Line 41: @@
 {{:marvin:lab4-kd.png}}
 {{:marvin:lab4-ki.png}}
-The above pictures are from http://en.wikipedia.org/wiki/PID_controller
+\\
+The above pictures are from http://en.wikipedia.org/wiki/PID_controller \\
 By inspection we summarize the following. An increase in the proportional gain will create a larger overshoot, but reduce the steady state error and rise time. An increase in the integral controller also increase the overshoot, while eliminating the steady state error. (This is actually depending in how many poles we have in the system). If we increase the differential controller, we decrease the overshoot with no affect on the steady state error, but the bandwith of the system will be reduced.
@@ Line 105: / Line 106: @@
 [[http://www.youtube.com/v/5_XGJUgSKIQ|{{:marvin:Lab4_movie_1.jpg}}]]
-Movie with a boom mounted in the Marvin
+Movie with a boom mounted on Marvin
 [[http://www.youtube.com/v/kXf08CPnus8|{{:marvin:Lab4_movie_2.jpg}}]]
-Movie of Marvin
+Movie of Marvin in the final version