stepplot(T0,'b--',T1,'r',4,opt)
legend('Initial','Tuned','location','SouthEast')
The six curves settling near y=1 represent the step responses of each joint, and the
curves settling near y=0 represent the cross-coupling terms. The tuned controller is a
clear improvement, but there is some overshoot and the Bicep response takes a long time
to settle.
Exploiting the Second Degree of Freedom
The 2-DOF PI controllers have a feedforward and a feedback component.
Multi-Loop PI Control of a Robotic Arm