ABSTRACT

Load the software from www.esscont.com/4/position.htm again. The original code for stepping the model was

which gave a slow response. We saw that changing the first line to

made a great improvement. Increasing the position feedback further without increasing the damping starts to result in overshoots, but it appears that by adding extra damping we can speed up the response indefinitely. The only limitation is imposed by the time step dt of our simulation, something that we can also reduce.