1 00:00:00,650 --> 00:00:01,370 ‫Welcome back. 2 00:00:02,120 --> 00:00:15,380 ‫OK, so the NPC controller here, it receives cirE from the planner and then it receives fire and Setar 3 00:00:15,860 --> 00:00:19,280 ‫from this feedback penalization controller. 4 00:00:20,370 --> 00:00:32,610 ‫And then this NPC controller, it computes the remaining UTU, U3 and EUFOR. 5 00:00:33,720 --> 00:00:36,480 ‫Which are then sent to the plant box. 6 00:00:37,500 --> 00:00:45,630 ‫However, this is now a very important point when you give a reference value, then it takes time for 7 00:00:45,630 --> 00:00:49,410 ‫a system to reach that reference value. 8 00:00:50,340 --> 00:00:59,550 ‫So I have a graph here and let's have time here and let's have the fire angle here, which would be 9 00:00:59,550 --> 00:01:00,390 ‫in Radiance. 10 00:01:00,390 --> 00:01:03,620 ‫And then time, of course, will be in seconds. 11 00:01:04,440 --> 00:01:07,670 ‫And let's say that this is your fire reference value. 12 00:01:07,680 --> 00:01:11,600 ‫Your fire are in green. 13 00:01:11,850 --> 00:01:14,550 ‫You have this true fly angle. 14 00:01:15,650 --> 00:01:23,630 ‫This belongs to the real drone, and let's say that this time frame that we have goes from zero seconds 15 00:01:24,200 --> 00:01:27,260 ‫up until zero point four seconds. 16 00:01:28,100 --> 00:01:36,570 ‫So you can see that the true fight does not reach fi are instantly you need time to get there. 17 00:01:37,490 --> 00:01:40,660 ‫So now you should see a problem with this scheme. 18 00:01:41,570 --> 00:01:48,920 ‫So I have redrawn the axis here, one four, five versus time and then also Seeta versus Time. 19 00:01:49,700 --> 00:01:52,850 ‫Let's assume that this is your face up subpar. 20 00:01:52,940 --> 00:01:58,040 ‫And let's put your one and let's say that this is your Seeta, our one. 21 00:01:58,850 --> 00:02:09,740 ‫This feedback calendarization box will find these five are one and theta one, and then it sends these 22 00:02:09,740 --> 00:02:12,140 ‫values to the NPC controller. 23 00:02:13,190 --> 00:02:21,860 ‫And so when the NPC controller receives the reference values, then he starts working, it starts adjusting 24 00:02:22,490 --> 00:02:26,200 ‫its real fi and Seeta angles. 25 00:02:27,250 --> 00:02:35,200 ‫But after zero point one seconds, the true fly would be here and true Seeta would be here. 26 00:02:36,160 --> 00:02:44,230 ‫However, after zero point one seconds, this feedback calendarization controller will find another 27 00:02:44,320 --> 00:02:46,630 ‫fire are and seats are. 28 00:02:47,580 --> 00:02:59,400 ‫Let's say that this is PHY are two and this is Seeta are two, so the NPC controller has not even finished 29 00:02:59,730 --> 00:03:06,510 ‫reaching its first target and it already needs to start chasing the second target. 30 00:03:07,680 --> 00:03:16,290 ‫So after zero point one seconds, maybe your fighting through the angle that the drone really has, 31 00:03:16,620 --> 00:03:23,220 ‫maybe it's going to end up here and then CETRA might end up here, for example. 32 00:03:24,290 --> 00:03:32,330 ‫But then zero point one seconds later, this feedback lionization controller will find another fi ah 33 00:03:32,450 --> 00:03:35,600 ‫and let's call it fi r three. 34 00:03:36,470 --> 00:03:38,450 ‫And also another Seeta. 35 00:03:38,450 --> 00:03:40,780 ‫Our feet are three. 36 00:03:41,750 --> 00:03:51,260 ‫And again, the NPC controller needs to cancel chasing the second target and start chasing the third 37 00:03:51,260 --> 00:03:51,830 ‫target. 38 00:03:52,910 --> 00:03:55,910 ‫So they might end up having these values here. 39 00:03:56,900 --> 00:04:05,750 ‫So as you can see, the NPC controller does not have the time to reach the reference values that it 40 00:04:05,750 --> 00:04:06,410 ‫is getting. 41 00:04:07,570 --> 00:04:16,000 ‫Defy are and then the theater, our reference values, they get updated very quickly, so what do we 42 00:04:16,000 --> 00:04:17,020 ‫do about that? 43 00:04:18,280 --> 00:04:23,310 ‫Well, the answer is very simple, but let it be your exercise. 44 00:04:24,100 --> 00:04:26,440 ‫How would you solve this problem? 45 00:04:26,950 --> 00:04:31,330 ‫Think about it and then we will discuss it in the next video. 46 00:04:31,660 --> 00:04:32,530 ‫Thank you very much.