Fig. 5.
Recovery time, Δtrec, increases for stronger perturbations. Here, Δtrec is plotted for cases of accurate correction, and the model prediction is the dashed blue curve. The theoretical curve marks the total time to return to within 2° of the original yaw angle and is generated using the mean parameter values extracted from fits to trials of accurate recovery: I = 0.9 × 10-13 kg ·m2, β = 0.9 × 10-11 kg ·m2·s-1, Δt = 3.5 T, T = 0.0045 s, KP = 5.9 × 10-10 kg ·m2 ·s-2, KD = 5.3 × 10-12 kg ·m2 ·s-1.