Differences

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--- lego_rip [2017/05/23 11:28] – [Equations of motion] sangsinpark
+++ lego_rip [2017/06/15 10:10] (current) – [NXC code for LEGO NXT Brick] sangsinpark
@@ Line 70: / Line 70: @@
 {{ lego_rip_v2:rip_equ11.jpg }}
 \\
-  * **HW.** Derive a transfer function if an output, y, is a α.
+  * **HW.** Derive a transfer function assuming that an output, y, is a α.
 ===== Full state feedback control =====
@@ Line 161: / Line 161: @@
 {
    float error = refRad - Mrad;
-   float U = PGain*error + IGain*M_errSum + DGain*d_Mrad;
+   float U = PGain*error + IGain*M_errSum - DGain*d_Mrad;
    if(U > FULL_SPEED)