PI velocity controllers comparison

The following PI-velocity controllers are compared (different parameterization methods), position control is off for all methods: <ul> <li> Damping optimum Groß: kp=212, ki=106</li> <li> Damping optimum Zirn: kp=229, ki=57</li> <li> Disturbance optimum: kp=76, ki = 38</li> <li> Symmetric Optimum: kp=149, ki=310</li> <li> Extended Symmetric Optimum (Schröder2016, §3.2.2): kp=182.9, ki=46</li> <li> H_inf: kp=166, ki=69</li> <li> Loop shaping: kp=180, ki=67</li> </ul> The following input signals are split in folders: <ul> <li> ForceSweep/ ... sweep on linear direct drive for frequency domain analysis of disturbances</li> <li> VelocityRamp/ ... jerk limited ramp profile (const. velocity) for time domain analysis</li> <li> VelSweep/ ... velocity sweep on motor for frequency domain analysis</li> <li> sweeps_H_inf/ ... multiple motor velocity sweeps at different positions (150 mm, 350 mm, 600 mm 650 mm), directions (positive/negative) and velocities (8 mm/s, 20 mm/s)</li> </ul> <p>Please refer to <a href="https://darus.uni-stuttgart.de/file.xhtml?fileId=168723">Readme.md</a> contained in the dataset for more detailed information.</p> <h5>Abbreviations used in data/metadata:</h5> <ul> <li>LDA/LDD ... linear direct drive</li> <li>KGT/BSC ... ball screw drive</li> </ul>