Fal!2001 16.3120-5 ically use TS /r)s+1 where ro relative weight at low freq(< 1) roo relative weight at high freq ( -1/T approx freq at which relative uncertainty is 100% 10 1/τ 10 0 10 Freq(rad/sec) Figure 4: Typical input uncertainty weighting. Low error at low fre- quency and larger error at high frequencyFall 2001 16.31 20—5 • Typically use τs + r0 E0(s) = (τ/r∞)s + 1 where — r0 relative weight at low freq (¿ 1) — r∞ relative weight at high freq (≥ 2) — 1/τ approx freq at which relative uncertainty is 100%. 101 10−2 10−2 10−1 100 101 102 r ∞ 1/τ r 0 100 |E 0| 10−1 Freq (rad/sec) Figure 4: Typical input uncertainty weighting. Low error at low fre￾quency and larger error at high frequency