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Re: Modeling Saturation - Sensor or Acutuator


I should add that I want to do this in the S-plane, not in the time
domain.

I have a transfer function in the s-plane that maps the output of a PID
controller to the angle of the output shaft of the motor, but how do I
add in saturation of the amplifier (it can only supply limited
voltage), the motor torque and motor speed? 

Thanks!

Gary


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