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Improving a robot controller: Replacing tanh(x) with sin(arctan(x))

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5/8/2019 12:17:25 PM
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Replacing tanh(x) with sin(arctan(x))
Interesting article. As an "old" servo guy, I can appreciate it. 
The one comment I have is when graphs are drawn with different scales and then the reader is encouraged to compare them, it becomes very tedious. 

In the article, both the horizontal and vertical scales are different between the two graphs. If they were the same, then a visual comparison would be straightforward.

5/8/2019 1:24:35 PM
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Re: Replacing tanh(x) with sin(arctan(x))
@Hooey0---sorry about the graphs---they were from different articles and I did not have the time to re-draw them, but thanks for your comments

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