Table 4 Controller gain parameters boundary limits
Controlled parameter | Gain parameter | Upper boundary | Lower boundary |
|---|---|---|---|
Loop 1 | |||
δ R | Kp 1 | 20 | − 20 |
Kd 1 | 20 | − 20 | |
Ki 1 | 0.1 | − 0.1 | |
Loop 2 | |||
δ L | Kp 2 | 20 | − 20 |
Kd 2 | 20 | − 20 | |
Ki 2 | 0.1 | − 0.1 | |
Loop 3 | |||
θ | Kp 3 | 50 | − 50 |
Kd 3 | 10 | − 10 | |
Ki 3 | 0.1 | − 0.1 | |
Loop 4 | |||
h 1 | Kp 4 | 20 | − 20 |
Kd 4 | 10 | − 10 | |
Ki 4 | 0.1 | − 0.1 | |
Loop 5 | |||
h 2 | Kp 5 | 60 | − 60 |
Kd 5 | 50 | − 50 | |
Ki 5 | 0.1 | − 0.1 | |