Prop controller documentation - underdamped and overdamped flipped #153
Description
Hello, on https://introtoroboticsv2.readthedocs.io/en/latest/course/robot_control/intro_to_prop_control.html, near the bottom, the following is described.
With a low Kp, the red line is slow to react to the error, and the controller is sluggish. It takes a long time to reach the desired value, and it never quite gets there. This is called **underdamped** behavior.
With a high Kp, the purple line is quick to react to the error, and the controller is aggressive. It reaches the desired value quickly, but overshoots, causing the error to become negative. It then corrects itself, but overshoots again, and so on. This is called **overdamped** behavior, and results in oscillations around the desired value.
These are flipped however since the red line is overdamped and the purple line is underdamped.