Fa2004 16.333105 E Without Washout With Washout 0.5 15 Time Without Washout 15 Time Figure 6: Impulse response of closed loop system with and without the Washout filter(T= 4.2). Commanded Tc=0, and both have(8)ss =0, but without the filter, Tss=0, whereas with it, Tss #0 For direct comparison with and without the filter, applied impulse as re to both closed-loop systems and then calculated r and dr Bottom plot shows that control signal quickly converges to zero in both cases, i.e., no more control effort is being applied to correct the motion But only the one with the washout filter produces a zero control input even though the there is a steady turn=, the controller will not try to fight a commanded steady turn� Fall 2004 16.333 10–5 0 5 10 15 20 25 30 −0.5 0 0.5 1 Time Response r Without Washout With Washout 0 5 10 15 20 25 30 −0.5 0 0.5 1 Time Control δ r Without Washout With Washout Figure 6: Impulse response of closed loop system with and without the Washout filter (τ = 4.2). Commanded rc = 0, and both have (δr)ss = 0, but without the filter, rss = 0, whereas with it, rss = 0. • For direct comparison with and without the filter, applied impulse as rc to both closed­loop systems and then calculated r and δr. • Bottom plot shows that control signal quickly converges to zero in both cases, i.e., no more control effort is being applied to correct the motion. • But only the one with the washout filter produces a zero control input even though the there is a steady turn ⇒ the controller will not try to fight a commanded steady turn