% Show influence of inductance when not doing PWM. motor; %global to_file = 1; function u = control (t) global sys; if (t < 1) u = sys.motor.u; else u = 0; end end global sys; sys.motor = re40g; sys.gear = gear4x; sys.load = robot10w80; sys.load.J /= 2; % Two motors. sys.control.func = "control"; % With inductance. plotterm ("w_induct"); sys_plot (2); % With inductance zoom. plotterm ("w_inductz"); sys_plot (2 / 100); % Without inductance. sys.motor.L = 0; plotterm ("wo_induct"); sys_plot (2); % Without inductance zoom. plotterm ("wo_inductz"); sys_plot (2 / 100);