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Add link to preliminary paper

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Thomas Dehaeze
2020-08-28 12:27:21 +02:00
parent edb7f55ff6
commit 3383ed48ba
4 changed files with 15 additions and 30 deletions
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@@ -312,7 +312,7 @@ The first one consists of slightly modifying the control law (Section ref:sec:if
* Integral Force Feedback with High Pass Filter
<<sec:iff_hpf>>
** Modification of the Control Low :ignore:
** Modification of the Control Law :ignore:
As was explained in the previous section, the instability comes in part from the high gain at low frequency caused by the pure integrators.
In order to limit this low frequency controller gain, an high pass filter (HPF) can be added to the controller