Control Parameters

25
Kp 2.5 50

20
Ki 2 40

Kd 0.25 25
15

10
Simulation Parameters
Initial Position 5

Position
Target Position 10
5
Time Step 0.05

Mass 0.1 <-- can be 0 if you want system to control velocity instead of force
Gravity Acc -25 --> Min. Required Output: 2.5 0
Max Output -1 <-- negative value indicates no maximum
Max Accel -1 <-- negative value indicates no maximum
-5
Initial Velocity 0
Initial Error -5 <-- Suggested: -5
Initial Error Int. 0 <-- Steady State: -1.2500 -1.2480 -10

-15
0
 25

20

15

10
Position

-5

-10

-15
0 1 2 3 4 5 6

Time

SP PV OUT ERR
 6 7 8

ERR
Time Position Target Error Int. Error Der. Error Output
0 5 10 -5 -0.25 0 13
0.05 5.2625 10 -4.7375 -0.486875 5.25 11.505
0.1 5.750125 10 -4.249875 -0.6993688 9.7525 9.5853
0.15 6.4148825 10 -3.5851175 -0.8786246 13.29515 7.3962555
0.2 7.20204639 10 -2.7979536 -1.0185223 15.7432778 5.096109205
0.25 8.05411301 10 -1.945887 -1.1158167 17.0413324 2.8360177098
0.3 8.91458007 10 -1.0854199 -1.1700877 17.2093412 0.7513898386
0.35 9.73133187 10 -0.2686681 -1.1835211 16.3350361 -1.0450465942
0.4 10.4594575 10 0.45945751 -1.1605482 14.5625128 -2.468175625
0.45 11.0633788 10 1.06337876 -1.1073792 12.078425 -3.4632946754
0.5 11.5182176 10 1.51821765 -1.0314684 9.09677768 -4.0068018157
0.55 11.8103865 10 1.81038649 -0.940949 5.84337677 -4.1049123339
0.65 11.9374325 10 1.93743252 -0.8440774 2.5409206 -3.7906566194
0.7 11.9072121 10 1.90721213 -0.7487168 -0.6044077 -3.119494792
0.75 11.7365044 10 1.73650438 -0.6618916 -3.4141551 -2.163938993
0.8 11.4491981 10 1.44919815 -0.5894317 -5.7461246 -1.0076008589
0.85 11.0742019 10 1.0742019 -0.5357216 -7.499925 0.2609196873
0.9 10.6432286 10 0.64322864 -0.5035602 -8.6194652 1.5539150107
0.95 10.1886033 10 0.18860325 -0.49413 -9.0925077 2.7898787689
1 9.74122484 10 -0.2587752 -0.5070687 -8.9475683 3.8979674757
1.05 9.32879561 10 -0.6712044 -0.540629 -8.2485846 4.8214150497
1.1 8.97440176 10 -1.0255982 -0.5919089 -7.087877 5.5197826216
1.15 8.69550247 10 -1.3044975 -0.6571338 -5.5779857 5.9700077616
1.2 8.50335338 10 -1.4966466 -0.7319661 -3.8429818 6.1662941833
1.25 8.40286164 10 -1.5971384 -0.811823 -2.0098347 6.1189505895
1.3 8.39284367 10 -1.6071563 -0.8921808 -0.2003595 5.8523423304
1.35 8.46663426 10 -1.5333657 -0.9688491 1.47581171 5.4021596495
1.4 8.61297883 10 -1.3870212 -1.0382002 2.92689154 4.8122303679
1.45 8.81712917 10 -1.1828708 -1.0973437 4.08300672 4.1311128149
1.5 9.06205733 10 -0.9379427 -1.1442408 4.89856313 3.4086975894
1.55 9.32970292 10 -0.6702971 -1.1777557 5.35291192 2.6930261082
1.6 9.60217417 10 -0.3978258 -1.197647 5.44942498 2.0275023055
1.65 9.86283298 10 -0.137167 -1.2045053 5.21317613 1.4486342034
1.7 10.0972076 10 0.09720764 -1.199645 4.68749323 0.9843975101
1.75 10.2936922 10 0.29369224 -1.1849603 3.92969199 0.6532670992
1.8 10.4440085 10 0.44400851 -1.1627599 3.00632554 0.4639171683
1.85 10.5434227 10 0.54342272 -1.1355888 1.98828412 0.4155497352
1.9 10.5907257 10 0.59072567 -1.1060525 0.94605899 0.4987760777
1.95 10.587998 10 0.58799802 -1.0766526 -0.054553 0.6969483875
2 10.5401941 10 0.54019408 -1.0496429 -0.9560788 0.9878202782
2.05 10.4545857 10 0.45458565 -1.0269136 -1.7121686 1.3454052584
2.1 10.3401123 10 0.34011235 -1.009908 -2.289466 1.7419016175
2.15 10.2066866 10 0.20668659 -0.9995737 -2.6685152 2.1495596566
2.2 10.0644998 10 0.06449982 -0.9963487 -2.8437354 2.5423816392
2.25 9.92337259 10 -0.0766274 -1.00018 -2.8225446 2.8975647442
2.3 9.79218448 10 -0.2078155 -1.0105708 -2.6237622 3.1966209755
2.35 9.6784119 10 -0.3215881 -1.0266502 -2.2754517 3.4261336254
2.4 9.58779266 10 -0.4122073 -1.0472606 -1.8123849 3.5781357669
2.45 9.52412681 10 -0.4758732 -1.0710543 -1.273317 3.6501207403
2.5 9.48921397 10 -0.510786 -1.0965936 -0.6982566 3.6447163288
2.55 9.48291905 10 -0.5170809 -1.1224476 -0.1258985 3.5690721906
2.6 9.50335093 10 -0.4966491 -1.1472801 0.40863763 3.4340233696
2.65 9.5471334 10 -0.4528666 -1.1699234 0.87564932 3.253100944
2.7 9.60974339 10 -0.3902566 -1.1894362 1.25219979 3.0414640137
2.75 9.68588998 10 -0.31411 -1.2051417 1.5229318 2.8148255398
2.8 9.76990721 10 -0.2300928 -1.2166464 1.68034457 2.5884385561
2.85 9.8561354 10 -0.1438646 -1.2238396 1.72456384 2.3761997164
2.9 9.93926858 10 -0.0607314 -1.2268762 1.6626637 2.1899149309
2.95 10.0146496 10 0.01464964 -1.2261437 1.50762117 2.0387579545
3 10.0784996 10 0.07849965 -1.2222187 1.27700014 1.9289382273
3.05 10.1280731 10 0.12807311 -1.215815 0.99146926 1.8635799806
3.1 10.1617361 10 0.16173607 -1.2077282 0.67325925 1.8428014696
3.15 10.1789691 10 0.17896907 -1.1987798 0.34465998 1.8639718807
3.2 10.1803014 10 0.18030137 -1.1897647 0.02664592 1.9221145183
3.25 10.1671865 10 0.16718653 -1.1814054 -0.2622968 2.0104186529
3.3 10.1418322 10 0.14183215 -1.1743138 -0.5070875 2.1208190423
3.35 10.1069983 10 0.10699826 -1.1689639 -0.696678 2.2446015828
3.4 10.0657794 10 0.0657794 -1.1656749 -0.8243772 2.3729955926
3.45 10.0213854 10 0.02138543 -1.1646056 -0.8878794 2.4977175236
3.5 9.9769344 10 -0.0230656 -1.1657589 -0.8890206 2.6114369711
3.55 9.93526929 10 -0.0647307 -1.1689954 -0.8333021 2.7081431877
3.6 9.89880776 10 -0.1011922 -1.1740551 -0.7292305 2.7833983306
3.65 9.86943119 10 -0.1305688 -1.1805835 -0.5875314 2.8344718419
3.7 9.84841642 10 -0.1515836 -1.1881627 -0.4202955 2.8603581514
3.75 9.8364106 10 -0.1635894 -1.1963421 -0.2401164 2.8616868697
3.8 9.83344695 10 -0.166553 -1.2046698 -0.0592729 2.8405404336
3.85 9.83899682 10 -0.1610032 -1.21272 0.11099727 2.8001985385
3.9 9.85205165 10 -0.1479484 -1.2201174 0.26109654 2.7448314889
3.95 9.87122726 10 -0.1287727 -1.226556 0.38351229 2.6791657911
4 9.89488202 10 -0.105118 -1.2318119 0.47309518 2.6081449676
4.05 9.9212404 10 -0.0787596 -1.2357499 0.52716767 2.5366068482
4.1 9.94851396 10 -0.051486 -1.2383242 0.54547109 2.4689957104
4.15 9.9750124 10 -0.0249876 -1.2395736 0.52996894 2.4091238881
4.2 9.99923895 10 -0.0007611 -1.2396116 0.48453089 2.3599931461
4.25 10.0199653 10 0.01996532 -1.2386134 0.41452746 2.323681538
4.3 10.0362837 10 0.03628373 -1.2367992 0.32636823 2.3012969436
4.35 10.0476346 10 0.04763457 -1.2344174 0.2270167 2.292994281
4.4 10.0538103 10 0.05381026 -1.2317269 0.12351384 2.2980497395
4.45 10.0549372 10 0.0549372 -1.2289801 0.02253871 2.3149824633
4.5 10.0514387 10 0.05143869 -1.2264081 -0.0699701 2.341712043
4.55 10.043983 10 0.04398299 -1.224209 -0.149114 2.3757389927
4.6 10.0334208 10 0.03342076 -1.2225379 -0.2112445 2.4143351094
4.65 10.0207169 10 0.02071692 -1.2215021 -0.254077 2.454731152
4.7 10.0068813 10 0.00688134 -1.221158 -0.2767114 2.4942905494
4.75 9.99290304 10 -0.007097 -1.2215129 -0.2795661 2.5306596934
4.8 9.97969122 10 -0.0203088 -1.2225283 -0.2642363 2.561887645
4.85 9.9680266 10 -0.0319734 -1.224127 -0.2332925 2.5865105871
4.9 9.95852474 10 -0.0414753 -1.2262007 -0.1900372 2.6035989356
4.95 9.95161286 10 -0.0483871 -1.2286201 -0.1382377 2.6127674956
5 9.94752016 10 -0.0524798 -1.2312441 -0.081854 2.6141512869
5.05 9.94628124 10 -0.0537188 -1.23393 -0.0247783 2.6083515404
 5.1 9.94775112 10 -0.0522489 -1.2365425 0.02939746 2.5963578036
5.15 9.95162994 10 -0.0483701 -1.238961 0.07757636 2.5794530394
5.2 9.95749508 10 -0.0425049 -1.2410862 0.11730288 2.5591090414
5.25 9.96483795 10 -0.0351621 -1.2428443 0.1468574 2.536879441
5.3 9.97310281 10 -0.0268972 -1.2441892 0.16529712 2.51429709
5.35 9.98172509 10 -0.0182749 -1.2451029 0.17244567 2.4927817364
5.4 9.99016692 10 -0.0098331 -1.2455946 0.16883654 2.4735627608
5.45 9.99794781 10 -0.0020522 -1.2456972 0.15561792 2.457620395
5.5 10.0046692 10 0.00466922 -1.2454637 0.13442811 2.4456474097
5.55 10.0100318 10 0.01003181 -1.2449622 0.10725182 2.4380318253
5.6 10.0138452 10 0.01384519 -1.2442699 0.07626773 2.4348598613
5.65 10.0160301 10 0.01603008 -1.2434684 0.04369766 2.4359371631
5.7 10.0166134 10 0.01661339 -1.2426377 0.01166624 2.4408253983
5.75 10.0157173 10 0.01571734 -1.2418519 -0.0179211 2.448890622
5.8 10.0135435 10 0.01354355 -1.2411747 -0.0434757 2.4593594075
5.85 10.0103537 10 0.01035375 -1.240657 -0.063796 2.4713786122
5.9 10.0064484 10 0.00644841 -1.2403346 -0.0781067 2.4840747866
5.95 10.0021449 10 0.00214494 -1.2402273 -0.0860693 2.4966096119
6 9.99775672 10 -0.0022433 -1.2403395 -0.0877645 2.5082283059
6.05 9.9935742 10 -0.0064258 -1.2406608 -0.0836504 2.5182986459
6.1 9.98984914 10 -0.0101509 -1.2411683 -0.0745011 2.5263390334
6.15 9.98678257 10 -0.0132174 -1.2418292 -0.0613315 2.5320348406
6.2 9.98451686 10 -0.0154831 -1.2426033 -0.0453141 2.535243065
6.25 9.98313223 10 -0.0168678 -1.2434467 -0.0276926 2.5359860327
6.3 9.98264725 10 -0.0173527 -1.2443144 -0.0096996 2.5344355003
6.35 9.98302316 10 -0.0169768 -1.2451632 0.00751817 2.5308889748
6.4 9.98417129 10 -0.0158287 -1.2459546 0.02296266 2.5257403908
6.45 9.98596294 10 -0.0140371 -1.2466565 0.03583286 2.519447441
6.5 9.98824077 10 -0.0117592 -1.2472445 0.04555658 2.512497862
6.55 9.99083104 10 -0.009169 -1.2477029 0.05180551 2.5053768365
6.6 9.99355574 10 -0.0064443 -1.2480251 0.05449393 2.4985374172
6.65 9.99624387 10 -0.0037561 -1.2482129 0.05376264 2.4923755236
6.7 9.99874139 10 -0.0012586 -1.2482759 0.0499504 2.4872106445
6.75 10.0009192 10 0.00091918 -1.2482299 0.04355572 2.4832729314
6.8 10.0026788 10 0.00267879 -1.248096 0.03519219 2.4806969133
6.85 10.0039558 10 0.00395582 -1.2478982 0.02554064 2.4795216372
6.9 10.0047209 10 0.00472089 -1.2476621 0.01530146 2.4796966609
6.95 10.0049784 10 0.00497838 -1.2474132 0.00514979 2.4810930164
7 10.0047632 10 0.00476319 -1.247175 -0.0043037 2.4835180325
7.05 10.004136 10 0.00413596 -1.2469682 -0.0125447 2.4867327679
7.1 10.003177 10 0.00317705 -1.2468094 -0.0191783 2.4904707549
7.15 10.0019799 10 0.0019799 -1.2467104 -0.0239429 2.494456786
7.2 10.0006442 10 0.00064417 -1.2466782 -0.0267145 2.4984245867
7.25 9.99926906 10 -0.0007309 -1.2467147 -0.0275022 2.5021323869
7.3 9.99794726 10 -0.0020527 -1.2468174 -0.026436 2.505375618
7.35 9.99675985 10 -0.0032402 -1.2469794 -0.0237482 2.5079962103
7.4 9.99577234 10 -0.0042277 -1.2471908 -0.0197501 2.5098882161
7.45 9.99503204 10 -0.004968 -1.2474392 -0.014806 2.5109997377
7.5 9.99456673 10 -0.0054333 -1.2477108 -0.0093062 2.5113313663
7.55 9.99438471 10 -0.0056153 -1.2479916 -0.0036405 2.5109315333
Clipped Output Target Velocity Required Acc Clipped Acc Actual Velocity
13 6.5 130 130 5.25
11.505 11.0025 115.05 115.05 9.7525
9.5853 14.54515 95.853 95.853 13.29515
7.3962555 16.99327775 73.962555 73.962555 15.7432778
5.096109205 18.2913323525 50.96109205 50.96109205 17.0413324
2.8360177098 18.4593412074 28.360177098 28.360177098 17.2093412
0.7513898386 17.5850361267 7.513898386 7.513898386 16.3350361
-1.0450465942 15.8125128296 -10.45046594 -10.45046594 14.5625128
-2.468175625 13.3284250171 -24.68175625 -24.68175625 12.078425
-3.4632946754 10.3467776794 -34.63294675 -34.63294675 9.09677768
-4.0068018157 7.0933767715 -40.06801816 -40.06801816 5.84337677
-4.1049123339 3.7909206046 -41.04912334 -41.04912334 2.5409206
-3.7906566194 0.6455922949 -37.90656619 -37.90656619 -0.6044077
-3.119494792 -2.1641551011 -31.19494792 -31.19494792 -3.4141551
-2.163938993 -4.4961245976 -21.63938993 -21.63938993 -5.7461246
-1.0076008589 -6.2499250271 -10.07600859 -10.07600859 -7.499925
0.2609196873 -7.3694651834 2.6091968734 2.6091968734 -8.6194652
1.5539150107 -7.842507678 15.539150107 15.539150107 -9.0925077
2.7898787689 -7.6975682936 27.898787689 27.898787689 -8.9475683
3.8979674757 -6.9985845557 38.979674757 38.979674757 -8.2485846
4.8214150497 -5.8378770309 48.214150497 48.214150497 -7.087877
5.5197826216 -4.3279857201 55.197826216 55.197826216 -5.5779857
5.9700077616 -2.5929818393 59.700077616 59.700077616 -3.8429818
6.1662941833 -0.7598347476 61.662941833 61.662941833 -2.0098347
6.1189505895 1.0496405472 61.189505895 61.189505895 -0.2003595
5.8523423304 2.7258117124 58.523423304 58.523423304 1.47581171
5.4021596495 4.1768915371 54.021596495 54.021596495 2.92689154
4.8122303679 5.3330067211 48.122303679 48.122303679 4.08300672
4.1311128149 6.1485631285 41.311128149 41.311128149 4.89856313
3.4086975894 6.6029119232 34.086975894 34.086975894 5.35291192
2.6930261082 6.6994249773 26.930261082 26.930261082 5.44942498
2.0275023055 6.4631761301 20.275023055 20.275023055 5.21317613
1.4486342034 5.9374932317 14.486342034 14.486342034 4.68749323
0.9843975101 5.1796919868 9.8439751014 9.8439751014 3.92969199
0.6532670992 4.2563255364 6.5326709925 6.5326709925 3.00632554
0.4639171683 3.2382841206 4.6391716833 4.6391716833 1.98828412
0.4155497352 2.1960589882 4.1554973516 4.1554973516 0.94605899
0.4987760777 1.195447027 4.9877607774 4.9877607774 -0.054553
0.6969483875 0.2939212208 6.9694838751 6.9694838751 -0.9560788
0.9878202782 -0.4621686401 9.8782027824 9.8782027824 -1.7121686
1.3454052584 -1.0394660109 13.454052584 13.454052584 -2.289466
1.7419016175 -1.4185152021 17.419016175 17.419016175 -2.6685152
2.1495596566 -1.5937353738 21.495596566 21.495596566 -2.8437354
2.5423816392 -1.5725445542 25.423816392 25.423816392 -2.8225446
2.8975647442 -1.3737621821 28.975647442 28.975647442 -2.6237622
3.1966209755 -1.0254516944 31.966209755 31.966209755 -2.2754517
3.4261336254 -0.5623848817 34.261336254 34.261336254 -1.8123849
3.5781357669 -0.0233169982 35.781357669 35.781357669 -1.273317
3.6501207403 0.5517433719 36.501207403 36.501207403 -0.6982566
3.6447163288 1.1241015364 36.447163288 36.447163288 -0.1258985
3.5690721906 1.6586376317 35.690721906 35.690721906 0.40863763
3.4340233696 2.1256493164 34.340233696 34.340233696 0.87564932
3.253100944 2.5021997884 32.53100944 32.53100944 1.25219979
3.0414640137 2.7729317953 30.414640137 30.414640137 1.5229318
2.8148255398 2.9303445652 28.148255398 28.148255398 1.68034457
2.5884385561 2.9745638432 25.884385561 25.884385561 1.72456384
2.3761997164 2.9126637014 23.761997164 23.761997164 1.6626637
2.1899149309 2.7576211668 21.899149309 21.899149309 1.50762117
2.0387579545 2.5270001441 20.387579545 20.387579545 1.27700014
1.9289382273 2.2414692578 19.289382273 19.289382273 0.99146926
1.8635799806 1.923259248 18.635799806 18.635799806 0.67325925
1.8428014696 1.5946599828 18.428014696 18.428014696 0.34465998
1.8639718807 1.2766459232 18.639718807 18.639718807 0.02664592
1.9221145183 0.9877031824 19.221145183 19.221145183 -0.2622968
2.0104186529 0.7429125088 20.104186529 20.104186529 -0.5070875
2.1208190423 0.55332203 21.208190423 21.208190423 -0.696678
2.2446015828 0.4256228214 22.446015828 22.446015828 -0.8243772
2.3729955926 0.3621206177 23.729955926 23.729955926 -0.8878794
2.4977175236 0.3609793795 24.977175236 24.977175236 -0.8890206
2.6114369711 0.4166978651 26.114369711 26.114369711 -0.8333021
2.7081431877 0.5207694589 27.081431877 27.081431877 -0.7292305
2.7833983306 0.6624686242 27.833983306 27.833983306 -0.5875314
2.8344718419 0.8297045451 28.344718419 28.344718419 -0.4202955
2.8603581514 1.0098836209 28.603581514 28.603581514 -0.2401164
2.8616868697 1.1907270557 28.616868697 28.616868697 -0.0592729
2.8405404336 1.3609972725 28.405404336 28.405404336 0.11099727
2.8001985385 1.5110965418 28.001985385 28.001985385 0.26109654
2.7448314889 1.6335122862 27.448314889 27.448314889 0.38351229
2.6791657911 1.7230951817 26.791657911 26.791657911 0.47309518
2.6081449676 1.7771676655 26.081449676 26.081449676 0.52716767
2.5366068482 1.7954710897 25.366068482 25.366068482 0.54547109
2.4689957104 1.7799689448 24.689957104 24.689957104 0.52996894
2.4091238881 1.7345308889 24.091238881 24.091238881 0.48453089
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