Figure 4

Pulse and sustained perturbations. The perturbation time plots are given for pulse perturbations (red line) and sustained perturbations (blue line). Notice that each perturbation reaches 0.5 Volts – this is equal to half the maximum possible motor drive for the plant in addition to the actual motor drive; e.g., if the plant is being driven internally by 0.5 volts, and a 0.5 volt perturbation is also applied, the total motor drive with perturbation will be 1 volts.