Use Experiment 18A to compare the disturbance response of observer- and non-observer-based systems with identical control law gains.

Compile and run the model. Change the input from command to disturbance as follows. Double-click on “Command Wave Gen” and set the amplitude to 0.0001 (this is set low enough to be insignificant but high enough to continue to trigger the Live Scopes). Similarly, set the amplitude of the “Disturbance Wave Gen” to 2.0. The Live Scopes are now showing the velocity signals in response to a disturbance.

a. Compare the two velocity signals. Notice that the two Live Scopes at the bottom compare the two velocity signals to the actual motor velocity.

b. Using Dist DSA, measure and compare the disturbance response based on both of the signals using the default control loop gains.

Transcribed Image Text:

Vc + TH H+ 20 Vo Scale: 10 (Off: Scale2: 10(Off -10) Time: 0.002