We provide you with some information about the control of the QR

• Instability Problem
• Cascaded P Control

PLEASE THE TASK

We would like you to do an indepth study/research in the tradeoff between the filtering of the QR and the QR performance So it will be about filtering but more of an indepth form of filtering

 PROBLEM ANALYSIS

Noise is still considerable in the QR performance

At the moment there is still little correlation between (filtered) phi and p

More aggressive filtering leads to more phase delay

10 Hz signals already produces a 90 degree phase lag with  2nd -order filters

In our particular case we might want to apply notch filter but this is must be done after testing the Low

Pass filters to see the tradeoff and the reaction it has on the QR

In general though, there are too many noise frequencies

sphi: negligible drift, too high noise

sp: low noise, drift -> prohibits integration to phi  

A bit of explanation

In general the QR produces a lot of noise. Filters are introduced to reduce the noise in the system. But in order to use these filters (LP etc) there are some limitations. For instance when we try to get rid of all the noise in the system, it leads to 0 control (so the QR does not work at all) In another scenario when there is a bit of noise in the system it leads to instability of the QR. In both ways after applying the filters something happens to the QR performance. We would like you to find the best filter that would do a better job (e.g. notch filter) and write about the analysis/ideas.