updateErrorDynamicsFromStep
Update values ofNaturalFrequency
andDampingRatio
properties given desired step response
Syntax
Description
updateErrorDynamicsFromStep(
updates the values of themotionModel
,settlingTime
,overshoot
)NaturalFrequency
andDampingRatio
properties of the givenjointSpaceMotionModel
object given the desired step response.
updateErrorDynamicsFromStep(
updates themotionModel
,settlingTime
,overshoot
,jointIndex
)NaturalFrequency
andDampingRatio
properties for a specific joint. In this case, the values ofSettlingTime
andOvershoot
must be provided as scalars because they apply to a single joint.
Examples
Input Arguments
References
[1] Ogata, Katsuhiko.Modern Control Engineering4th ed. Englewood Cliffs, NJ: Prentice-Hall, 2002.