FOPD z vibration in os4

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try to change wc

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system needs reset.

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still vibrating.

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iopid continuous A

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iopid continuous B

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Dr. Chen replied: Check pzmap the vibration is caused by a pole near imaginary axis.
Could be due to discretization. Do not use Tustin try pole zero mapping?

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I already found the code for calculating poles. I need to find the pole explanation and put it in the code.

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A summary of what to try next?

• pole zero mapping. Although the pzmap shows that the discrete-time stability is good. It could be not robust enough against plant change (identification error). Therefore, it could help if we can get it more robust.
• change wc and pm.