Fall 2001 16.3116-21 Vel sens to pos state sen no se f=D. 01 Vel sens to pos state. sen noise fafe-006 Vel sens to pos state. sen noise fale-008Fall 2001 16.31 16–21 10−3 10−2 10−1 100 101 102 103 10−4 10−2 100 102 104 Freq (rad/sec) Mag Vel sens to Pos state, sen noise r=0.01 10−3 10−2 10−1 100 101 102 103 0 50 100 150 200 Freq (rad/sec) Phase (deg) 10−3 10−2 10−1 100 101 102 103 10−4 10−2 100 102 104 Freq (rad/sec) Mag Vel sens to Pos state, sen noise r=0.0001 10−3 10−2 10−1 100 101 102 103 0 50 100 150 200 Freq (rad/sec) Phase (deg) 10−3 10−2 10−1 100 101 102 103 10−4 10−2 100 102 104 Freq (rad/sec) Mag Vel sens to Pos state, sen noise r=1e−006 10−3 10−2 10−1 100 101 102 103 0 50 100 150 200 Freq (rad/sec) Phase (deg) Vel sens to Pos state, sen noise r=1e−006 10−3 10−2 10−1 100 101 102 103 10−4 10−2 100 102 104 Freq (rad/sec) Mag Vel sens to Pos state, sen noise r=1e−008 10−3 10−2 10−1 100 101 102 103 0 50 100 150 200 Freq (rad/sec) Phase (deg)