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. Author manuscript; available in PMC: 2019 May 15.
Published in final edited form as: IEEE Trans Robot. 2016 Jan 19;32(1):138–149. doi: 10.1109/TRO.2015.2504981

TABLE VI.

Rotary FFA Sub-Step Control Law Parameters

Parameter Value Parameter Value
Robustness constant η 2 m/s3 Closed-loop poles location, — λ −100 Hz
Boundary layer, φ 1000 m/s2 Proportional gain, kp 0.2
Hysteretic damping, ξθ 93.3 kPa/(deg/s) Second moment of inertia, J 16.1 kg-mm2
Stiffness, kθ 450 kPa/deg rAe,θ 8318 mm3