When doing Kalman filters, you usually have the basic form of the dynamics in the linear system, but the coefficients are usually determined experimentally (since things like mass is hard to estimate)
Additionaly, because i have direct integrator control (i.e when my target is at setpoint, my control input is 0), all I need is a proportional gain that is small enough for the system to not go unstable. And i have a physical low pass filter of the motor rotor inertia.
When doing Kalman filters, you usually have the basic form of the dynamics in the linear system, but the coefficients are usually determined experimentally (since things like mass is hard to estimate)
Additionaly, because i have direct integrator control (i.e when my target is at setpoint, my control input is 0), all I need is a proportional gain that is small enough for the system to not go unstable. And i have a physical low pass filter of the motor rotor inertia.