Use of a Simple Mechanical Analogy to Analytically Tune the PD Controller of a Flexible Manipulator System

Figure 14

Optimal responses using the general design rule “” (solid lines) and the standard design rule “” (dashed) for the two systems in Figure 13 in three different design cases given by Table 2. The symbols, “ο,” “+,” and “∇” are indicated at , , and in successive order.