‫Welcome back.
‫OK, so the NPC controller here, it receives cirE from the planner and then it receives fire and Setar
‫from this feedback penalization controller.
‫And then this NPC controller, it computes the remaining UTU, U3 and EUFOR.
‫Which are then sent to the plant box.
‫However, this is now a very important point when you give a reference value, then it takes time for
‫a system to reach that reference value.
‫So I have a graph here and let's have time here and let's have the fire angle here, which would be
‫in Radiance.
‫And then time, of course, will be in seconds.
‫And let's say that this is your fire reference value.
‫Your fire are in green.
‫You have this true fly angle.
‫This belongs to the real drone, and let's say that this time frame that we have goes from zero seconds
‫up until zero point four seconds.
‫So you can see that the true fight does not reach fi are instantly you need time to get there.
‫So now you should see a problem with this scheme.
‫So I have redrawn the axis here, one four, five versus time and then also Seeta versus Time.
‫Let's assume that this is your face up subpar.
‫And let's put your one and let's say that this is your Seeta, our one.
‫This feedback calendarization box will find these five are one and theta one, and then it sends these
‫values to the NPC controller.
‫And so when the NPC controller receives the reference values, then he starts working, it starts adjusting
‫its real fi and Seeta angles.
‫But after zero point one seconds, the true fly would be here and true Seeta would be here.
‫However, after zero point one seconds, this feedback calendarization controller will find another
‫fire are and seats are.
‫Let's say that this is PHY are two and this is Seeta are two, so the NPC controller has not even finished
‫reaching its first target and it already needs to start chasing the second target.
‫So after zero point one seconds, maybe your fighting through the angle that the drone really has,
‫maybe it's going to end up here and then CETRA might end up here, for example.
‫But then zero point one seconds later, this feedback lionization controller will find another fi ah
‫and let's call it fi r three.
‫And also another Seeta.
‫Our feet are three.
‫And again, the NPC controller needs to cancel chasing the second target and start chasing the third
‫target.
‫So they might end up having these values here.
‫So as you can see, the NPC controller does not have the time to reach the reference values that it
‫is getting.
‫Defy are and then the theater, our reference values, they get updated very quickly, so what do we
‫do about that?
‫Well, the answer is very simple, but let it be your exercise.
‫How would you solve this problem?
‫Think about it and then we will discuss it in the next video.
‫Thank you very much.