System | PM (degrees) | GM (db) | ωg (rad/s) | ωp (rad/s) | Delay margin (samples) | Stability state |
---|---|---|---|---|---|---|
Open loop (digital_withoutpid) | 19.8 | Inf | Inf | 31.5 | 0.111 | Stable with poor dynamic response |
PID control (digital_PID_Cloop) | 177 and 158 | Inf | Inf | 31.1 and 31.3 | 0.994 and 0.878 | Stable with good dynamic response |
PIDN control (digital_PIDN_Cloop) | 82.5 | Inf | Inf | 31.4 | 0.459 | Better stable with good dynamic response |