Chapter 1 Introduction Beard Mc Lain Peterson Introduction
Chapter 1 Introduction Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 1
Course Overview Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 2
Course content I Brief Intro to Simulation Models II Design Models • Equilibria and Linearization • Transfer Function Models • State Space Models Pole Placement for Second Order Systems Design Strategies for Second Order Systems System Type and Integrators Digital Implementation of PID Controllers Beard, Mc. Lain, Peterson, • Root-locus Analysis, Stability, Performance • Dynamic Compensation V Loopshaping Control Design III PID Control Design • • IV Root-locus-based Control Design • • Frequency Response of LTI Systems Frequency Domain Specifications Stability and Robustness Margins Compensator Design VI Observer-Based Control Design • Full-State Feedback • Integrator with Full State Feedback • Observers “Introduction to Feedback Control, ” Chapter 1: Slide 3
Design Study A: Single Link Robot Arm Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 4
Design Study B: Pendulum on a Cart Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 5
Design Study C: Satellite Attitude Control Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 6
Design Study D: Mass Spring Damper Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 7
Design Study E: Ball on Beam Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 8
Design Study F: Planar VTOL Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 9
What can feedback do for you? • Reduce your system’s sensitivity to disturbances • Reduce your system’s sensitivity to changes in its dynamics • Change the dynamics of your system • Can move the eigenvalues (aka poles, characteristic roots) to desirable locations in the s-plane • Improve stability properties • Improve system performance (e. g. , speed of response, steady-state error, etc. ) • Other stuff too! Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 10
Our big goal Learn how to use feedback control to bring about desired behaviors in dynamic systems • Analysis • Design Beard, Mc. Lain, Peterson, “Introduction to Feedback Control, ” Chapter 1: Slide 11
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