Control Parameters Simulation Parameters

3 Initial Position 1

0.8 Target Position 10

0.7 Time Step 0.025

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

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

Kp

Ki

Kd

0 0.5 1 1.5 2 2.5 3 3.5 40

2

4

6

8

10

12

Control Motion

Time

Posit

ion

<-- 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

0 0.5 1 1.5 2 2.5 3 3.5 40

2

4

6

8

10

12

Control Motion

Time

Posit

ion

Time Position Target Error Int. Error Der. Error0 1 10 -9 -0.225 0

0.025 1.15425 10 -8.84575 -0.44614375 6.170.05 1.43396978 10 -8.56603022 -0.66029451 11.1887912

0.075 1.81302814 10 -8.18697186 -0.8649688 15.16233430.1 2.26795685 10 -7.73204315 -1.05826988 18.1971485

0.125 2.7779152 10 -7.2220848 -1.238822 20.39833380.15 3.32461403 10 -6.67538597 -1.40570665 21.8679534

0.175 3.89220759 10 -6.10779241 -1.55840146 22.70374240.2 4.46716039 10 -5.53283961 -1.69672245 22.9981121

0.225 5.03809581 10 -4.96190419 -1.82077005 22.83741660.25 5.59563208 10 -4.40436792 -1.93087925 22.3014509

0.275 6.1322108 10 -3.8677892 -2.02757398 21.46314880.325 6.64192216 10 -3.35807784 -2.11152593 20.3884544

0.35 7.12033062 10 -2.87966938 -2.18351766 19.13633850.375 7.56430399 10 -2.43569601 -2.24441006 17.7589348

0.4 7.97184837 10 -2.02815163 -2.29511385 16.30177520.425 8.3419509 10 -1.6580491 -2.33656508 14.8041011

0.45 8.67443173 10 -1.32556827 -2.36970429 13.29923320.475 8.96980634 10 -1.03019366 -2.39545913 11.8149845

0.5 9.22915882 10 -0.77084118 -2.41473016 10.37409920.525 9.45402654 10 -0.54597346 -2.4283795 8.99470879

0.55 9.64629631 10 -0.35370369 -2.43722209 7.690790740.575 9.80811193 10 -0.19188807 -2.44201929 6.47262455

0.6 9.94179281 10 -0.05820719 -2.44347447 5.347235160.625 10.0497633 10 0.04976329 -2.44223039 4.3188193

0.65 10.134492 10 0.13449203 -2.43886809 3.389149530.675 10.1984409 10 0.19844085 -2.43390707 2.55795296

0.7 10.2440224 10 0.2440224 -2.42780651 1.823261970.725 10.2735658 10 0.27356579 -2.42096736 1.18173563

0.75 10.2892896 10 0.28928957 -2.41373512 0.628951020.775 10.2932812 10 0.29328118 -2.40640309 0.15966444

0.8 10.2874822 10 0.28748225 -2.39921604 -0.23195710.825 10.2736789 10 0.27367892 -2.39237406 -0.55213309

0.85 10.2534966 10 0.25349657 -2.38603665 -0.807294170.875 10.2283982 10 0.22839825 -2.38032669 -1.00393279

0.9 10.1996863 10 0.1996863 -2.37533453 -1.14847790.925 10.1685065 10 0.1685065 -2.37112187 -1.24719209

0.95 10.1358543 10 0.13585427 -2.36772552 -1.306088970.975 10.1025825 10 0.10258255 -2.36516095 -1.330869

1 10.0694108 10 0.06941076 -2.36342568 -1.326871651.025 10.0369347 10 0.03693471 -2.36250232 -1.29904204

1.05 10.005637 10 0.00563695 -2.36236139 -1.251910251.075 9.97589742 10 -0.02410258 -2.36296396 -1.18958139

1.1 9.94800404 10 -0.05199596 -2.36426385 -1.115734921.125 9.92216325 10 -0.07783675 -2.36620977 -1.03363157

1.15 9.89851009 10 -0.10148991 -2.36874702 -0.946126531.175 9.8771179 10 -0.1228821 -2.37181907 -0.85568755

1.2 9.85800748 10 -0.14199252 -2.37536889 -0.764416841.225 9.84115559 10 -0.15884441 -2.37934 -0.67407573

1.25 9.82650281 10 -0.17349719 -2.38367743 -0.586111171.275 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 -0.346812431.35 9.78781041 10 -0.21218959 -2.40367899 -0.27750646

1.375 9.78245879 10 -0.21754121 -2.40911752 -0.214064841.4 9.77854319 10 -0.22145681 -2.41465394 -0.15662408

1.425 9.7759134 10 -0.2240866 -2.4202561 -0.105191471.45 9.77442173 10 -0.22557827 -2.42589556 -0.0596668

1.475 9.77392518 10 -0.22607482 -2.43154743 -0.019862291.5 9.77428716 10 -0.22571284 -2.43719025 0.01447921

1.525 9.77537886 10 -0.22462114 -2.44280578 0.043668031.55 9.77708018 10 -0.22291982 -2.44837877 0.06805314

1.575 9.77928042 10 -0.22071958 -2.45389676 0.088009461.6 9.78187859 10 -0.21812141 -2.4593498 0.10392684

1.625 9.78478361 10 -0.21521639 -2.46473021 0.116200661.65 9.78791421 10 -0.21208579 -2.47003235 0.12522388

1.675 9.79119872 10 -0.20880128 -2.47525239 0.131380521.7 9.79457473 10 -0.20542527 -2.48038802 0.13504036

1.725 9.7979886 10 -0.2020114 -2.4854383 0.136554861.75 9.80139495 10 -0.19860505 -2.49040343 0.13625397

1.775 9.80475605 10 -0.19524395 -2.49528453 0.1344441.8 9.8080412 10 -0.1919588 -2.5000835 0.13140617

1.825 9.8112261 10 -0.1887739 -2.50480285 0.127395891.85 9.81429216 10 -0.18570784 -2.50944554 0.1226426

1.875 9.81722592 10 -0.18277408 -2.51401489 0.117350131.9 9.82001835 10 -0.17998165 -2.51851443 0.1116974

1.925 9.82266434 10 -0.17733566 -2.52294783 0.105839481.95 9.82516206 10 -0.17483794 -2.52731877 0.09990888

1.975 9.82751249 10 -0.17248751 -2.53163096 0.094017032 9.82971888 10 -0.17028112 -2.53588799 0.08825588

2.025 9.83178637 10 -0.16821363 -2.54009333 0.082699532.05 9.83372152 10 -0.16627848 -2.54425029 0.077406

2.075 9.83553199 10 -0.16446801 -2.54836199 0.072418872.1 9.83722622 10 -0.16277378 -2.55243134 0.06776897

2.125 9.83881312 10 -0.16118688 -2.55646101 0.0634762.15 9.84030187 10 -0.15969813 -2.56045346 0.05955006

2.175 9.8417017 10 -0.1582983 -2.56441092 0.055993092.2 9.8430217 10 -0.1569783 -2.56833538 0.05280021

2.225 9.84427073 10 -0.15572927 -2.57222861 0.049960972.25 9.84545724 10 -0.15454276 -2.57609218 0.04746048

2.275 9.84658925 10 -0.15341075 -2.57992745 0.04528042.3 9.84767425 10 -0.15232575 -2.58373559 0.04339988

2.325 9.84871916 10 -0.15128084 -2.58751761 0.041796342.35 9.84973031 10 -0.15026969 -2.59127435 0.04044613

2.375 9.85071344 10 -0.14928656 -2.59500652 0.03932522.4 9.85167368 10 -0.14832632 -2.59871468 0.03840952

2.425 9.85261556 10 -0.14738444 -2.60239929 0.037675532.45 9.85354308 10 -0.14645692 -2.60606071 0.03710049

2.475 9.85445965 10 -0.14554035 -2.60969922 0.036662742.5 9.85536819 10 -0.14463181 -2.61331501 0.03634187

2.525 9.85627116 10 -0.14372884 -2.61690824 0.03611892.55 9.85717057 10 -0.14282943 -2.62047897 0.03597637

2.575 9.85806803 10 -0.14193197 -2.62402727 0.035898372.6 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 0.035916182.675 9.86165892 10 -0.13834108 -2.63799614 0.03596859

2.7 9.86255965 10 -0.13744035 -2.64143215 0.036029122.725 9.86346192 10 -0.13653808 -2.6448456 0.03609072

2.75 9.86436561 10 -0.13563439 -2.64823646 0.036147522.775 9.86527048 10 -0.13472952 -2.6516047 0.03619479

2.8 9.8661762 10 -0.1338238 -2.65495029 0.036228782.825 9.86708236 10 -0.13291764 -2.65827323 0.03624666

2.85 9.86798852 10 -0.13201148 -2.66157352 0.036246372.875 9.86889419 10 -0.13110581 -2.66485117 0.03622656

2.9 9.86979885 10 -0.13020115 -2.6681062 0.036186512.925 9.870702 10 -0.129298 -2.67133865 0.03612597

2.95 9.87160313 10 -0.12839687 -2.67454857 0.036045162.975 9.87250174 10 -0.12749826 -2.67773602 0.03594462

3 9.87339737 10 -0.12660263 -2.68090109 0.035825213.025 9.87428957 10 -0.12571043 -2.68404385 0.03568799

3.05 9.87517793 10 -0.12482207 -2.6871644 0.035534183.075 9.87606206 10 -0.12393794 -2.69026285 0.03536513

3.1 9.87694161 10 -0.12305839 -2.69333931 0.035182263.125 9.87781629 10 -0.12218371 -2.6963939 0.03498702

3.15 9.87868581 10 -0.12131419 -2.69942676 0.034780853.175 9.87954994 10 -0.12045006 -2.70243801 0.0345652

3.2 9.88040848 10 -0.11959152 -2.7054278 0.034341443.225 9.88126125 10 -0.11873875 -2.70839627 0.03411089

3.25 9.88210812 10 -0.11789188 -2.71134356 0.03387483.275 9.88294898 10 -0.11705102 -2.71426984 0.03363433

3.3 9.88378374 10 -0.11621626 -2.71717524 0.033390563.325 9.88461235 10 -0.11538765 -2.72005994 0.03314446

3.35 9.88543477 10 -0.11456523 -2.72292407 0.03289693.375 9.88625099 10 -0.11374901 -2.72576779 0.03264868

3.4 9.887061 10 -0.112939 -2.72859127 0.032400473.425 9.88786482 10 -0.11213518 -2.73139465 0.03215289

3.45 9.88866249 10 -0.11133751 -2.73417808 0.031906453.475 9.88945403 10 -0.11054597 -2.73694173 0.03166157

3.5 9.89023949 10 -0.10976051 -2.73968575 0.031418623.525 9.89101894 10 -0.10898106 -2.74241027 0.0311779

3.55 9.89179243 10 -0.10820757 -2.74511546 0.030939613.575 9.89256003 10 -0.10743997 -2.74780146 0.03070395

3.6 9.8933218 10 -0.1066782 -2.75046842 0.030471033.625 9.89407783 10 -0.10592217 -2.75311647 0.03024093

3.65 9.89482817 10 -0.10517183 -2.75574577 0.030013693.675 9.8955729 10 -0.1044271 -2.75835644 0.02978932

3.7 9.8963121 10 -0.1036879 -2.76094864 0.02956783.725 9.89704582 10 -0.10295418 -2.7635225 0.02934909

3.75 9.89777415 10 -0.10222585 -2.76607814 0.029133133.775 9.89849715 10 -0.10150285 -2.76861571 0.02891985

Output Clipped Output Target Velocity Required Acc Clipped Acc27.18 27.18 6.795 271.8 271.8

22.575165 22.575165 11.81379125 225.75165 225.7516518.394172385625 18.39417238563 15.7873343464 183.94172386 183.9417238614.639256579362 14.63925657936 18.8221484912 146.39256579 146.39256579

11.3047414040862 11.30474140409 21.0233338423 113.04741404 113.047414048.37847831623612 8.378478316236 22.4929534213 83.784783162 83.7847831625.84315582361961 5.84315582362 23.3287423772 58.431558236 58.4315582363.67747872432951 3.67747872433 23.6231120583 36.774787243 36.7747872431.85721833530486 1.857218335305 23.4624166421 18.572183353 18.5721833530.35613696225147 0.356136962251 22.9264508827 3.5613696225 3.5613696225-0.8532084640011 -0.853208464 22.0881487667 -8.53208464 -8.53208464-1.7987773563429 -1.79877735634 21.0134544276 -17.98777356 -17.98777356-2.5084638443072 -2.50846384431 19.7613384665 -25.08463844 -25.08463844-3.0096146690302 -3.00961466903 18.3839347993 -30.09614669 -30.09614669-3.3286382917821 -3.32863829178 16.9267752263 -33.28638292 -33.28638292-3.4906967001946 -3.49069670019 15.4291010513 -34.906967 -34.906967

-3.519471374532 -3.51947137453 13.9242332077 -35.19471375 -35.19471375-3.4369950091916 -3.43699500919 12.4399844554 -34.36995009 -34.36995009-3.2635408435912 -3.26354084359 10.9990992445 -32.63540844 -32.63540844-3.0175618157757 -3.01756181578 9.61970879052 -30.17561816 -30.17561816-2.7156721881774 -2.71567218818 8.31579074347 -27.15672188 -27.15672188-2.3726647872522 -2.37266478725 7.09762454666 -23.72664787 -23.72664787-2.0015575290012 -2.001557529 5.97223516441 -20.01557529 -20.01557529-1.6136634548577 -1.61366345486 4.94381930069 -16.13663455 -16.13663455

-1.218679063561 -1.21867906356 4.0141495348 -12.18679064 -12.18679064-0.8247862830669 -0.82478628307 3.18295296404 -8.247862831 -8.247862831-0.4387639728337 -0.43876397283 2.44826197083 -4.387639728 -4.387639728-0.0661053733862 -0.06610537339 1.80673562748 -0.661053734 -0.6610537340.28886157909533 0.288861579095 1.25395102226 2.888615791 2.8886157910.62285368477343 0.622853684773 0.78466444345 6.2285368477 6.2285368477

0.9335138331466 0.933513833147 0.39304290174 9.3351383315 9.33513833151.21929604973211 1.219296049732 0.07286691417 12.192960497 12.1929604971.47935564402558 1.479355644026 -0.18229417482 14.79355644 14.793556441.71344553807963 1.71344553808 -0.3789327903 17.134455381 17.134455381

1.9218195632304 1.92181956323 -0.5234778995 19.218195632 19.2181956322.10514325611891 2.105143256119 -0.62219208547 21.051432561 21.0514325612.26441246274249 2.264412462742 -0.68108896978 22.644124627 22.6441246272.40087986901539 2.400879869015 -0.70586900253 24.00879869 24.008798692.51598941614773 2.515989416148 -0.70187164849 25.159894161 25.1598941612.61131842680344 2.611318426803 -0.67404204179 26.113184268 26.1131842682.68852716111268 2.688527161113 -0.62691025151 26.885271611 26.8852716112.74931543777272 2.749315437773 -0.56458139207 27.493154378 27.4931543782.79538589225508 2.795385892255 -0.490734919 27.953858923 27.9538589232.82841339918269 2.828413399183 -0.40863156921 28.284133992 28.2841339922.85002015694793 2.850020156948 -0.32112652997 28.500201569 28.500201569

2.8617559174265 2.861755917427 -0.23068755062 28.617559174 28.6175591742.8650828401448 2.865082840145 -0.13941684058 28.650828401 28.650828401

2.86136445655502 2.861364456555 -0.04907572644 28.613644566 28.6136445662.85185824439626 2.851858244396 0.03888883466 28.518582444 28.5185824442.83771133286553 2.837711332866 0.12331666788 28.377113329 28.3771133292.81995888502748 2.819958885027 0.20330638913 28.19958885 28.199588852.79952473327231 2.799524733272 0.27818757245 27.995247333 27.995247333

2.77722387553919 2.777223875539 0.34749354133 27.772238755 27.7722387552.75376647347233 2.753766473472 0.4109351597 27.537664735 27.5376647352.72976302780972 2.72976302781 0.46837591666 27.297630278 27.2976302782.70573044040827 2.705730440408 0.51980852676 27.057304404 27.0573044042.68209870578109 2.682098705781 0.5653332032 26.820987058 26.8209870582.65921800737864 2.659218007379 0.60513770505 26.592180074 26.5921800742.63736602470577 2.637366024706 0.63947921122 26.373660247 26.373660247

2.6167552864318 2.616755286432 0.66866803283 26.167552864 26.1675528642.59754043171879 2.597540431719 0.69305314076 25.975404317 25.9754043172.57982526691541 2.579825266915 0.71300945749 25.798252669 25.7982526692.56366952746918 2.563669527469 0.72892683936 25.636695275 25.6366952752.54909527536639 2.549095275366 0.7412006582 25.490952754 25.490952754

2.5360928806393 2.536092880639 0.75022387836 25.360928806 25.3609288062.52462655153832 2.524626551538 0.75638051624 25.246265515 25.2462655152.51463939193054 2.514639391931 0.76004036423 25.146393919 25.1463939192.50605797647331 2.506057976473 0.76155485834 25.060579765 25.0605797652.49879644423306 2.498796444233 0.7612539694 24.987964442 24.9879644422.49276011982081 2.492760119821 0.75944399936 24.927601198 24.9276011982.48784867793433 2.487848677934 0.75640616884 24.878486779 24.8784867792.48395887258232 2.483958872582 0.75239588699 24.839588726 24.839588726

2.4809868563625 2.480986856363 0.74764260108 24.809868564 24.8098685642.47883011812381 2.478830118124 0.74235013061 24.788301181 24.7883011812.47738906929677 2.477389069297 0.73669739793 24.773890693 24.7738906932.47656831026614 2.476568310266 0.7308394755 24.765683103 24.7656831032.47627760851068 2.476277608511 0.72490887763 24.762776085 24.7627760852.47643261996404 2.476432619964 0.71901703262 24.7643262 24.76432622.47695538427238 2.476955384272 0.71325587869 24.769553843 24.7695538432.47777462343237 2.477774623432 0.70769953454 24.777746234 24.777746234

2.4788258717827 2.478825871783 0.70240600249 24.788258718 24.7882587182.48005146357453 2.480051463575 0.69741886838 24.800514636 24.8005146362.48140040242659 2.481400402427 0.69276896899 24.814004024 24.8140040242.48282813494958 2.48282813495 0.68847600273 24.828281349 24.8282813492.48429624874934 2.484296248749 0.68455006492 24.842962487 24.8429624872.48577211293762 2.485772112938 0.68099309315 24.857721129 24.8577211292.48722847722882 2.487228477229 0.67780021246 24.872284772 24.8722847722.48864304371483 2.488643043715 0.67496097339 24.886430437 24.8864304372.48999802350939 2.489998023509 0.67246047926 24.899980235 24.8999802352.49127968865949 2.491279688659 0.67028040143 24.912796887 24.9127968872.49247792804521 2.492477928045 0.66839988344 24.92477928 24.924779282.49358581444591 2.493585814446 0.66679633705 24.935858144 24.9358581442.49459918853707 2.494599188537 0.66544613418 24.945991885 24.9459918852.49551626431016 2.49551626431 0.66432520026 24.955162643 24.9551626432.49633725926699 2.496337259267 0.66340951508 24.963372593 24.9633725932.49706405173754 2.497064051738 0.66267552801 24.970640517 24.9706405172.49769986679168 2.497699866792 0.66210049471 24.976998668 24.9769986682.49824899146168 2.498248991462 0.66166274258 24.982489915 24.982489915

2.4987165193532 2.498716519353 0.66134187241 24.987165194 24.9871651942.4991081241896 2.49910812419 0.66111890346 24.991081242 24.991081242

2.49942986139942 2.499429861399 0.66097636881 24.994298614 24.9942986142.49968799651181 2.499687996512 0.66089836794 24.996879965 24.9968799652.49988885886098 2.499888858861 0.66087058266 24.998888589 24.9988885892.50003871890408 2.500038718904 0.66088026238 25.000387189 25.0003871892.50014368732899 2.500143687329 0.66091618421 25.001436873 25.001436873

2.50020963405006 2.50020963405 0.66096859273 25.002096341 25.0020963412.5002421251601 2.50024212516 0.66102912402 25.002421252 25.002421252

2.50024637591711 2.500246375917 0.661090718 25.002463759 25.0024637592.50022721788422 2.500227217884 0.66114752247 25.002272179 25.0022721792.50018907841054 2.500189078411 0.66119479207 25.001890784 25.001890784

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Actual Velocity6.17

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