Question: Transfer the values from Question 1a into Experiment 17B. Set the velocity feed-forward gain to 0.5 and the acceleration feed-forward gain to zero. Reduce position

Transfer the values from Question 1a into Experiment 17B.

#H+ Scale1: 20 (Off: 20) Scale2 20 (Off: -20) Time: 0.01 Low-

Set the velocity feed-forward gain to 0.5 and the acceleration feed-forward gain to zero. Reduce position loop gain to eliminate the overshoot caused by velocity feed-forward.

a. What are the values of KVF and KPP?

b. What is the position loop bandwidth with feed-forward?

data from question 1a

a. What are the values of KVP, KVI, and KPP?

#H+ Scale1: 20 (Off: 20) Scale2 20 (Off: -20) Time: 0.01 Low- amplitude ringing from high gain

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