I am working on a controller that calculates the maximum velocity that the actuator can remove from the system so the kinetic energy is zero when achieving the set point. Please see the attachment.
the MATLAB Function block is:
function direction = dircVel(Xd, Xa, Va)
Fmax = 1;
m = 1;
Vmax = sqrt(2 * Fmax * abs(Xd - Xa) / m) * sign(Xd - Xa);
direction = sign(Vmax - Va);
What I expect to see is that the output approaches the setpoint position asymptotically but it diverges to infinity!
the output of the MATLAB function seems OK:
but the output of the first integration is wrong:
red line being what I expected to see.
I would appreciate it if you could help me know what is wrong and how I can resolve it.
