Glossary: Plant Response

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Plant Response

The plant response type is the response from a current command input at u_total to the position feedback output at y. It includes only the response of the stage and the current loop. After you measure a frequency response, the plant response is static. It does not change if you adjust the servo parameters. But if you change the value of the % Max Current and collect a new measurement, some conditions can cause the plant response to change. They are as follows:

Your plant shows nonlinear behavior because of static friction in the bearings.
Your plant shows nonlinear behavior because of Pulse-width modulation (PWM) dead-time in the drive.