The step-function response of an r.p.c. servo mechanism possessing torque limitation

An analysis of the step-function response of a particular r.p.c. system is given, account being taken of saturation in the amplifier or servo motor. The object of the paper is to show the variation of the effective degree of damping with the increase in input step magnitude and to give quantitative data in graphical form. A simple second-order system has been taken in which the output torque is proportional to the control signal within the linear regime, and which has derivative-of-output or velocity-feedback stabilization.