Nótese que la ganancia k2 aumenta c

Nótese que la ganancia k2 aumenta cuando |v,r/| se hace pequeña. Este problema puede evitarse mediante un procedimiento de variación de los polos deseados con la velocidad, al cual se denomina de “escalado de velocidad”. De esta forma si, por ejemplo, se hace:

Kết quả (Anh) 1:

note that the gain k2 increases when | v, r / | is small. This problem can be avoided by a procedure of variation of the speed desired poles, which is called "speed scaling." in this way if, for example, is:

Kết quả (Anh) 2:

Note that the gain k2 increases when |v,r/| is small. This problem can be avoided through a procedure of variation of the poles with the desired speed, which is called "escalation of speed". In this way if, for example, becomes: