Actuation equations¶
The general linear actuator accepts a command \(C\) and cart speed \(V\) and produces horizontal force \(F\). Before limits,
A proper transfer function is converted to a real state-space form:
The issued command is clipped to its entered minimum and maximum, delayed by an integer number of simulation steps, and the calculated output is clipped to \(\pm F_{\max}\). These nonlinear limits mean the final actuator behavior is not itself a linear transfer function. The simulation advances the actuator using a zero-order-hold state transition. The feedback controller first requests force, then estimates the command needed to reach it over tracking_horizon_s based on current actuator state and cart speed.
The optional identified_first_order type is \(G_c(s)=K/(\tau s+1)\) plus a direct speed coefficient. The older force_lag type delays and filters a force request. The optional dc type uses an electrical winding and gearing approximation with voltage and current limits. None of these models is inferred from a motor frame label. For complete JSON fields and practical interpretation, see actuators.