Chapter 1 Introduction

Course Overview

Course content I Brief Intro to Simulation Models II Design Models Equilibria and Linearization Transfer Function Models State Space Models III PID Control Design Pole Placement for Second Order Systems Design Strategies for Second Order Systems System Type and Integrators Digital Implementation of PID Controllers IV Root-locus-based Control Design Root-locus Analysis, Stability, Performance Dynamic Compensation V Loopshaping 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

Design Study A: Single Link Robot Arm

Design Study B: Pendulum on a Cart

Design Study C: Satellite Attitude Control

Design Study D: Mass Spring Damper

Design Study E: Ball on Beam

Design Study F: Planar VTOL

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!

Our big goal Learn how to use feedback control to bring about desired behaviors in dynamic systems Analysis Design