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Chapter 1�

Introduction

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 1

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Course Overview

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 2

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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 Loop-shaping 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

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 3

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Design Study A: Single Link Robot Arm

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 4

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Design Study B: Pendulum on a Cart

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 5

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Design Study C: Satellite Attitude Control

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 6

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Design Study D: Mass Spring Damper

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 7

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Design Study E: Ball on Beam

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 8

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Design Study F: Planar VTOL

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 9

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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!

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Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 10

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Our big goal

Learn how to use feedback control to bring about desired behaviors in dynamic systems

    • Analysis
    • Design

Beard, McLain, Peterson, “Introduction to Feedback Control,” Chapter 1: Slide 11