Effects of joint rate and displacement constraints on stability regions

A block diagram showing plant dynamics in normal mode coordinates, a linear feedback controller with command limits, and actuator dynamics with rate and displacement limits is given. The objective is to examine the effects of joint rate and displacement saturation limits on the stability regions. An unstable short period dynamic model is transformed into normal mode coordinates and is augmented with actuator dynamics. A linear feedback controller is used to provide closed-loop stability. The stability with constrained actuator rate limits under varying bandwidth, displacement and command limits is examined.