The effects of the addition of some non-linear elements on the transient performance of a simple r.p.c. system possessing torque limitation

A simple second-order remote-position-control servo mechanism stabilized by velocity feedback or by a phase-advance network, and having an amplifier exhibiting saturation, is taken as the basis for experimental work. Additional non-linear elements purposely introduced to modify the system are discussed and step-function responses are considered by phase-plane analysis. Experimental systems are described and the performances are quoted.