The following PI-velocity controllers are compared (different parameterization methods), position control is off for all methods:

Damping optimum Groß: kp=212, ki=106 Damping optimum Zirn: kp=229, ki=57 Disturbance optimum: kp=76, ki = 38 Symmetric Optimum: kp=149, ki=310 Extended Symmetric Optimum (Schröder2016, §3.2.2): kp=182.9, ki=46 H_inf: kp=166, ki=69 Loop shaping: kp=180, ki=67

The following input signals are split in folders:

ForceSweep/ ... sweep on linear direct drive for frequency domain analysis of disturbances VelocityRamp/ ... jerk limited ramp profile (const. velocity) for time domain analysis VelSweep/ ... velocity sweep on motor for frequency domain analysis 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)

Please refer to Readme.md contained in the dataset for more detailed information.

Abbreviations used in data/metadata:

LDA/LDD ... linear direct drive KGT/BSC ... ball screw drive

dSPACE Control Desk, 7.3