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@ -67,14 +67,6 @@ In particular, we would like to measure:
#+attr_latex: :width 0.6\linewidth #+attr_latex: :width 0.6\linewidth
[[file:figs/encoder_vionic.png]] [[file:figs/encoder_vionic.png]]
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* Encoder Model * Encoder Model
The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$. The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$.
Ideally, this dynamics is constant over a wide frequency band with very small phase drop. Ideally, this dynamics is constant over a wide frequency band with very small phase drop.