Tracking or disturbance rejection?

Try it in the current lab

Pin the baseline. Use Tap load for a finite pulse or add a persistent Step load in the event list, then compare how the motor returns.

Pin the target-step run, then add a persistent load step at 4 s. Compare the error, applied voltage and recovery instead of only rise time.

The lab recalculates after a setting changes. Pin a run before changing one variable; the response and control-effort plots share the same replay time. PID experiments also show the P/I/D terms; estimator experiments show measured and estimated states.

What the system is doing

Reference and load disturbances enter different parts of the loop. Good tracking under one target does not by itself establish load rejection; integral action and available voltage matter.

Connect the design method

Reference tracking and input-load rejection are distinct tests. In this motor, a load torque subtracts from rotor torque; it is not an output disturbance. Pin the unloaded response, add a persistent step load, and compare recovery and applied voltage. Read sensitivity with the injection point in mind.