Control Parameters

Kp
Ki
Kd

Simulation Parameters

3
0.8
0.7

Initial Position

Target Position

10

Time Step

0.025

Mass
Gravity Acc
Max Output
Max Accel

0.1
-25
-1
-1

Initial Velocity
Initial Error
Initial Error Int.

0
-9
0

Control Motion
12

10

Position

0
0

0.5

1.5

2
Time

2.5

<--->
<-<--

can be 0 if you want system to control velocity instead of force

Min. Required Output:
2.5
negative value indicates no maximum
negative value indicates no maximum

<-- Suggested:
-9
<-- Steady State: -3.125 -2.76861571

ontrol Motion

1.5

2
Time

2.5

3.5

Time

Position
0
0.025
0.05
0.075
0.1
0.125
0.15
0.175
0.2
0.225
0.25
0.275
0.325
0.35
0.375
0.4
0.425
0.45
0.475
0.5
0.525
0.55
0.575
0.6
0.625
0.65
0.675
0.7
0.725
0.75
0.775
0.8
0.825
0.85
0.875
0.9
0.925
0.95
0.975
1
1.025
1.05
1.075
1.1
1.125
1.15
1.175
1.2
1.225

1
1.15425
1.43396978
1.81302814
2.26795685
2.7779152
3.32461403
3.89220759
4.46716039
5.03809581
5.59563208
6.1322108
6.64192216
7.12033062
7.56430399
7.97184837
8.3419509
8.67443173
8.96980634
9.22915882
9.45402654
9.64629631
9.80811193
9.94179281
10.0497633
10.134492
10.1984409
10.2440224
10.2735658
10.2892896
10.2932812
10.2874822
10.2736789
10.2534966
10.2283982
10.1996863
10.1685065
10.1358543
10.1025825
10.0694108
10.0369347
10.005637
9.97589742
9.94800404
9.92216325
9.89851009
9.8771179
9.85800748
9.84115559

Target

Error
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10

-9
-8.84575
-8.56603022
-8.18697186
-7.73204315
-7.2220848
-6.67538597
-6.10779241
-5.53283961
-4.96190419
-4.40436792
-3.8677892
-3.35807784
-2.87966938
-2.43569601
-2.02815163
-1.6580491
-1.32556827
-1.03019366
-0.77084118
-0.54597346
-0.35370369
-0.19188807
-0.05820719
0.04976329
0.13449203
0.19844085
0.2440224
0.27356579
0.28928957
0.29328118
0.28748225
0.27367892
0.25349657
0.22839825
0.1996863
0.1685065
0.13585427
0.10258255
0.06941076
0.03693471
0.00563695
-0.02410258
-0.05199596
-0.07783675
-0.10148991
-0.1228821
-0.14199252
-0.15884441

Int. Error
-0.225
-0.44614375
-0.66029451
-0.8649688
-1.05826988
-1.238822
-1.40570665
-1.55840146
-1.69672245
-1.82077005
-1.93087925
-2.02757398
-2.11152593
-2.18351766
-2.24441006
-2.29511385
-2.33656508
-2.36970429
-2.39545913
-2.41473016
-2.4283795
-2.43722209
-2.44201929
-2.44347447
-2.44223039
-2.43886809
-2.43390707
-2.42780651
-2.42096736
-2.41373512
-2.40640309
-2.39921604
-2.39237406
-2.38603665
-2.38032669
-2.37533453
-2.37112187
-2.36772552
-2.36516095
-2.36342568
-2.36250232
-2.36236139
-2.36296396
-2.36426385
-2.36620977
-2.36874702
-2.37181907
-2.37536889
-2.37934

Der. Error
0
6.17
11.1887913
15.1623343
18.1971485
20.3983338
21.8679534
22.7037424
22.9981121
22.8374166
22.3014509
21.4631488
20.3884544
19.1363385
17.7589348
16.3017752
14.8041011
13.2992332
11.8149845
10.3740992
8.99470879
7.69079074
6.47262455
5.34723516
4.3188193
3.38914953
2.55795296
1.82326197
1.18173563
0.62895102
0.15966444
-0.2319571
-0.55213309
-0.80729417
-1.00393279
-1.1484779
-1.24719209
-1.30608897
-1.330869
-1.32687165
-1.29904204
-1.25191025
-1.18958139
-1.11573492
-1.03363157
-0.94612653
-0.85568755
-0.76441684
-0.67407573

1.25
1.275
1.3
1.325
1.35
1.375
1.4
1.425
1.45
1.475
1.5
1.525
1.55
1.575
1.6
1.625
1.65
1.675
1.7
1.725
1.75
1.775
1.8
1.825
1.85
1.875
1.9
1.925
1.95
1.975
2
2.025
2.05
2.075
2.1
2.125
2.15
2.175
2.2
2.225
2.25
2.275
2.3
2.325
2.35
2.375
2.4
2.425
2.45
2.475

9.82650281
9.81396072
9.80341838
9.79474807
9.78781041
9.78245879
9.77854319
9.7759134
9.77442173
9.77392518
9.77428716
9.77537886
9.77708018
9.77928042
9.78187859
9.78478361
9.78791421
9.79119872
9.79457473
9.7979886
9.80139495
9.80475605
9.8080412
9.8112261
9.81429216
9.81722592
9.82001835
9.82266434
9.82516206
9.82751249
9.82971888
9.83178637
9.83372152
9.83553199
9.83722622
9.83881312
9.84030187
9.8417017
9.8430217
9.84427073
9.84545724
9.84658925
9.84767425
9.84871916
9.84973031
9.85071344
9.85167368
9.85261556
9.85354308
9.85445965

10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10

-0.17349719
-0.18603928
-0.19658162
-0.20525193
-0.21218959
-0.21754121
-0.22145681
-0.2240866
-0.22557827
-0.22607482
-0.22571284
-0.22462114
-0.22291982
-0.22071958
-0.21812141
-0.21521639
-0.21208579
-0.20880128
-0.20542527
-0.2020114
-0.19860505
-0.19524395
-0.1919588
-0.1887739
-0.18570784
-0.18277408
-0.17998165
-0.17733566
-0.17483794
-0.17248751
-0.17028112
-0.16821363
-0.16627848
-0.16446801
-0.16277378
-0.16118688
-0.15969813
-0.1582983
-0.1569783
-0.15572927
-0.15454276
-0.15341075
-0.15232575
-0.15128084
-0.15026969
-0.14928656
-0.14832632
-0.14738444
-0.14645692
-0.14554035

-2.38367743
-2.38832841
-2.39324295
-2.39837425
-2.40367899
-2.40911752
-2.41465394
-2.4202561
-2.42589556
-2.43154743
-2.43719025
-2.44280578
-2.44837877
-2.45389676
-2.4593498
-2.46473021
-2.47003235
-2.47525239
-2.48038802
-2.4854383
-2.49040343
-2.49528453
-2.5000835
-2.50480285
-2.50944554
-2.51401489
-2.51851443
-2.52294783
-2.52731877
-2.53163096
-2.53588799
-2.54009333
-2.54425029
-2.54836199
-2.55243134
-2.55646101
-2.56045346
-2.56441092
-2.56833538
-2.57222861
-2.57609218
-2.57992745
-2.58373559
-2.58751761
-2.59127435
-2.59500652
-2.59871468
-2.60239929
-2.60606071
-2.60969922

-0.58611117
-0.50168333
-0.42169361
-0.34681243
-0.27750646
-0.21406484
-0.15662408
-0.10519147
-0.0596668
-0.01986229
0.01447921
0.04366803
0.06805314
0.08800946
0.10392684
0.11620066
0.12522388
0.13138052
0.13504036
0.13655486
0.13625397
0.134444
0.13140617
0.12739589
0.1226426
0.11735013
0.1116974
0.10583948
0.09990888
0.09401703
0.08825588
0.08269953
0.077406
0.07241887
0.06776897
0.063476
0.05955006
0.05599309
0.05280021
0.04996097
0.04746048
0.0452804
0.04339988
0.04179634
0.04044613
0.0393252
0.03840952
0.03767553
0.03710049
0.03666274

2.5
2.525
2.55
2.575
2.6
2.625
2.65
2.675
2.7
2.725
2.75
2.775
2.8
2.825
2.85
2.875
2.9
2.925
2.95
2.975
3
3.025
3.05
3.075
3.1
3.125
3.15
3.175
3.2
3.225
3.25
3.275
3.3
3.325
3.35
3.375
3.4
3.425
3.45
3.475
3.5
3.525
3.55
3.575
3.6
3.625
3.65
3.675
3.7
3.725

9.85536819
9.85627116
9.85717057
9.85806803
9.8589648
9.8598618
9.86075971
9.86165892
9.86255965
9.86346192
9.86436561
9.86527048
9.8661762
9.86708236
9.86798852
9.86889419
9.86979885
9.870702
9.87160313
9.87250174
9.87339737
9.87428957
9.87517793
9.87606206
9.87694161
9.87781629
9.87868581
9.87954994
9.88040848
9.88126125
9.88210812
9.88294898
9.88378374
9.88461235
9.88543477
9.88625099
9.887061
9.88786482
9.88866249
9.88945403
9.89023949
9.89101894
9.89179243
9.89256003
9.8933218
9.89407783
9.89482817
9.8955729
9.8963121
9.89704582

10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10

-0.14463181
-0.14372884
-0.14282943
-0.14193197
-0.1410352
-0.1401382
-0.13924029
-0.13834108
-0.13744035
-0.13653808
-0.13563439
-0.13472952
-0.1338238
-0.13291764
-0.13201148
-0.13110581
-0.13020115
-0.129298
-0.12839687
-0.12749826
-0.12660263
-0.12571043
-0.12482207
-0.12393794
-0.12305839
-0.12218371
-0.12131419
-0.12045006
-0.11959152
-0.11873875
-0.11789188
-0.11705102
-0.11621626
-0.11538765
-0.11456523
-0.11374901
-0.112939
-0.11213518
-0.11133751
-0.11054597
-0.10976051
-0.10898106
-0.10820757
-0.10743997
-0.1066782
-0.10592217
-0.10517183
-0.1044271
-0.1036879
-0.10295418

-2.61331501
-2.61690824
-2.62047897
-2.62402727
-2.62755315
-2.63105661
-2.63453761
-2.63799614
-2.64143215
-2.6448456
-2.64823646
-2.6516047
-2.65495029
-2.65827323
-2.66157352
-2.66485117
-2.6681062
-2.67133865
-2.67454857
-2.67773602
-2.68090109
-2.68404385
-2.6871644
-2.69026285
-2.69333931
-2.6963939
-2.69942676
-2.70243801
-2.7054278
-2.70839627
-2.71134356
-2.71426984
-2.71717524
-2.72005994
-2.72292407
-2.72576779
-2.72859127
-2.73139465
-2.73417808
-2.73694173
-2.73968575
-2.74241027
-2.74511546
-2.74780146
-2.75046842
-2.75311647
-2.75574577
-2.75835644
-2.76094864
-2.7635225

0.03634187
0.0361189
0.03597637
0.03589837
0.03587058
0.03588026
0.03591618
0.03596859
0.03602912
0.03609072
0.03614752
0.03619479
0.03622878
0.03624666
0.03624637
0.03622656
0.03618651
0.03612597
0.03604516
0.03594462
0.03582521
0.03568799
0.03553418
0.03536513
0.03518226
0.03498702
0.03478085
0.0345652
0.03434144
0.03411089
0.0338748
0.03363433
0.03339056
0.03314446
0.0328969
0.03264868
0.03240047
0.03215289
0.03190645
0.03166157
0.03141862
0.0311779
0.03093961
0.03070395
0.03047103
0.03024093
0.03001369
0.02978932
0.0295678
0.02934909

3.75 9.89777415
3.775 9.89849715

10 -0.10222585 -2.76607814 0.02913313

10 -0.10150285 -2.76861571 0.02891985

Output
27.18
22.575165
18.3941723856
14.6392565794
11.3047414041
8.3784783162
5.8431558236
3.6774787243
1.8572183353
0.3561369623
-0.853208464
-1.7987773563
-2.5084638443
-3.009614669
-3.3286382918
-3.4906967002
-3.5194713745
-3.4369950092
-3.2635408436
-3.0175618158
-2.7156721882
-2.3726647873
-2.001557529
-1.6136634549
-1.2186790636
-0.8247862831
-0.4387639728
-0.0661053734
0.2888615791
0.6228536848
0.9335138331
1.2192960497
1.479355644
1.7134455381
1.9218195632
2.1051432561
2.2644124627
2.400879869
2.5159894161
2.6113184268
2.6885271611
2.7493154378
2.7953858923
2.8284133992
2.8500201569
2.8617559174
2.8650828401
2.8613644566
2.8518582444

Clipped Output
27.18
22.575165
18.3941723856
14.6392565794
11.3047414041
8.3784783162
5.8431558236
3.6774787243
1.8572183353
0.3561369623
-0.853208464
-1.7987773563
-2.5084638443
-3.009614669
-3.3286382918
-3.4906967002
-3.5194713745
-3.4369950092
-3.2635408436
-3.0175618158
-2.7156721882
-2.3726647873
-2.001557529
-1.6136634549
-1.2186790636
-0.8247862831
-0.4387639728
-0.0661053734
0.2888615791
0.6228536848
0.9335138331
1.2192960497
1.479355644
1.7134455381
1.9218195632
2.1051432561
2.2644124627
2.400879869
2.5159894161
2.6113184268
2.6885271611
2.7493154378
2.7953858923
2.8284133992
2.8500201569
2.8617559174
2.8650828401
2.8613644566
2.8518582444

Target Velocity
6.795
11.81379125
15.7873343464
18.8221484912
21.0233338423
22.4929534213
23.3287423772
23.6231120583
23.4624166421
22.9264508827
22.0881487667
21.0134544276
19.7613384665
18.3839347993
16.9267752263
15.4291010513
13.9242332077
12.4399844554
10.9990992445
9.6197087905
8.3157907435
7.0976245467
5.9722351644
4.9438193007
4.0141495348
3.182952964
2.4482619708
1.8067356275
1.2539510223
0.7846644434
0.3930429017
0.0728669142
-0.1822941748
-0.3789327903
-0.5234778995
-0.6221920855
-0.6810889698
-0.7058690025
-0.7018716485
-0.6740420418
-0.6269102515
-0.5645813921
-0.490734919
-0.4086315692
-0.32112653
-0.2306875506
-0.1394168406
-0.0490757264
0.0388888347

Required Acc
271.8
225.75165
183.9417239
146.3925658
113.047414
83.78478316
58.43155824
36.77478724
18.57218335
3.561369623
-8.53208464
-17.98777356
-25.08463844
-30.09614669
-33.28638292
-34.906967
-35.19471375
-34.36995009
-32.63540844
-30.17561816
-27.15672188
-23.72664787
-20.01557529
-16.13663455
-12.18679064
-8.247862831
-4.387639728
-0.661053734
2.888615791
6.228536848
9.335138331
12.1929605
14.79355644
17.13445538
19.21819563
21.05143256
22.64412463
24.00879869
25.15989416
26.11318427
26.88527161
27.49315438
27.95385892
28.28413399
28.50020157
28.61755917
28.6508284
28.61364457
28.51858244

Clipped Acc
271.8
225.75165
183.9417239
146.3925658
113.047414
83.78478316
58.43155824
36.77478724
18.57218335
3.561369623
-8.53208464
-17.98777356
-25.08463844
-30.09614669
-33.28638292
-34.906967
-35.19471375
-34.36995009
-32.63540844
-30.17561816
-27.15672188
-23.72664787
-20.01557529
-16.13663455
-12.18679064
-8.247862831
-4.387639728
-0.661053734
2.888615791
6.228536848
9.335138331
12.1929605
14.79355644
17.13445538
19.21819563
21.05143256
22.64412463
24.00879869
25.15989416
26.11318427
26.88527161
27.49315438
27.95385892
28.28413399
28.50020157
28.61755917
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