This shows a nice response with no undershoot or oscillations. The system has
stabilized after 3.25 msec.
16. Had the KI been too great, oscillations or too large an undershoot would have
occurred. To observe this case, increase
KI
to
90,000
.
We can see a large undershoot. If a response such as this occurs, reduce KI until
you reach a satisfactory response.
17. A robust system is required in a number of circumstances, among them:
Machines whose mechanics may vary, as when handling loads of different
masses
A machine type that uses one type of control parameters, although the
mechanics of each machine may differ from each other.
12
Elmo
HARmonica Tuning Guide
HARTG0903
Summary of Contents for HARmonica
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