I have a speed control system which is part of a hierarchical planning and control stack. The final output of this system is torque and the input is desired speed. The system is experiencing some oscillation which seems related to the highest level of the target speed planning frequency. I have a hunch that the different operational frequencies of various levels of the stack might be having an impact, but I am unsure how best to investigate and quantify the impacts. So I am wondering the following:
- What are the terms I can use to find information about the impact of input frequency on control response?
- Are there any well known approaches to analyzing the relation between input frequency and control response so I can more clearly conclude if this is the issue?
The system is developed using ROS, so if there are any ROS package which might help the analysis please let me know.