Fig. 3.

Velocity storage reproduced by the observer model. A: the frequency response (thin lines) of the observer model for different values of gain (K) compared with the SCC (thick line) demonstrates how the observer prolongs the velocity storage time constant. This resulted in an enhancement at lower frequencies. B: the observer model's response demonstrates the tradeoff between noise and bandwidth. As in Fig. 1B, the input ramped from standstill to 90°/s in 1 s. With larger K, the observer's estimate matcheed the actual angular velocity more closely than for a smaller K, but the noise on the estimate was larger. With a smaller K, the observer's estimate had less noise but decayed more quickly. For any K > 0, the velocity storage time constant was prolonged compared with the SCC afferent response.