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2. Proportional correction
It is always useful to try out a simple proportional corrector C (p ) = A c as it provides a good starting point for establishing the order of magnitude of the system's dynamic properties. It is often sufficient to meet the specifications.
The limitation is essentially this: if you have to increase the gain too much to satisfy the required precision, you'll usually end up with a control system that's too undamped or unstable.
2.1 Gain limit
The servo enters oscillation (which diverges until saturation limits its amplitude) when :
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