1- Consider that you want to turn from a heading angle of pi/2 to 0. What change
ID: 3349501 • Letter: 1
Question
1- Consider that you want to turn from a heading angle of pi/2 to 0. What changes, if any, would you make to your code to allow for the smallest number of iterations to turn to 0 radians? Why do you think this is the case?
1- Consider that you want to turn from a heading angle of pi/2 to 0. What changes, if any, would you make to your code to allow for the smallest number of iterations to turn to 0 radians? Why do you think this is the case?
2. What happens if the magnitude of the gain is too high? What happens if the magnitude of the gain is lower than optimal?
2. What happens if the magnitude of the gain is too high? What happens if the magnitude of the gain is lower than optimal?
Explanation / Answer
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1. To make the convergence to zero error faster , I would slightly increase the value of the gain k. This would result in the error signal being amplified and a proportional control action being applied, to counter the error.
2. If the magnitude of the gain is too high, it might result in oscillations in the system, before the system settles down to steady state. This is because the poles of the system gets into the complex territory if gain is increased. If the gain is too small, the system will become sluggish, and will take a long time to settle down.
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