Controllers

Displacement feedback

Velocity feedback

Acceleration feedback

Open Loop

P

$\begin{array}{l}\tilde{M}=M\\ \tilde{D}=D\\ \tilde{C}=C_{\text{KP}}\end{array}$

$\begin{array}{l}\tilde{M}=M\\ \tilde{D}=D_{\text{KP}}\\ \tilde{C}=C\end{array}$

$\begin{array}{l}\tilde{M}=M_{\text{KP}}\\ \tilde{D}=D\\ \tilde{C}=C\end{array}$

$\begin{array}{l}\tilde{M}=M\\ \tilde{D}=D\\ \tilde{C}=C\end{array}$

PD (ideal)

$\begin{array}{l}\tilde{M}=M\\ \tilde{D}=D_{\text{KD}}\\ \tilde{C}=C_{\text{KP}}\end{array}$

$\begin{array}{l}\tilde{M}=M_{\text{KD}}\\ \tilde{D}=D_{\text{KP}}\\ \tilde{C}=C\end{array}$

¾

I

¾

$\begin{array}{l}\tilde{M}=M\\ \tilde{D}=D\\ \tilde{C}=C_{\text{KI}}\end{array}$

$\begin{array}{l}\tilde{M}=M\\ \tilde{D}=D_{\text{KI}}\\ \tilde{C}=C\end{array}$

PI

¾

$\begin{array}{l}\tilde{M}=M\\ \tilde{D}=D_{\text{KP}}\\ \tilde{C}=C_{\text{KI}}\end{array}$

$\begin{array}{l}\tilde{M}=M_{\text{KP}}\\ \tilde{D}=D_{\text{KI}}\\ \tilde{C}=C\end{array}$

PID (ideal)

¾

$\begin{array}{l}\tilde{M}=M_{\text{KD}}\\ \tilde{D}=D_{\text{KP}}\\ \tilde{C}=C_{\text{KI}}\end{array}$

¾