��Chapter 7�Pole Placement for Second Order Systems
Course Overview
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
2
Big Picture: P-Control
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
3
Acts proportional to the current error
No look-ahead to see if it is pushing too hard
Big Picture: PD-Control
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
4
Acts proportional to the current error
Also acts proportional to direction that the error is heading. i.e., there is a look-ahead function
Doesn’t remember the past, and so can’t compensate for steady-state error
Big Picture: PI-Control
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
5
Acts proportional to the current error
Also acts proportional to the integral of the error, i.e., it remembers the past, and can compensate for steady-state error.
No look-ahead to see if it is pushing too hard
Big Picture: PID-Control
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
6
Acts proportional to the current error
Also acts proportional to the integral of the error, i.e., it remembers the past, and can compensate for steady-state error.
Also acts proportional to direction that the error is heading. i.e., there is a look-ahead function
Big Picture: PID Control
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
7
Open Loop: Characteristic Equation & Poles
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
8
Closed-loop PD Control
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
9
Control System
Closed-loop Transfer Function
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
10
Closed-loop Transfer Function
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
11
Closed-loop Transfer Function
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
12
Introduction of Zero
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
13
Design Study A
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
14
Design Study A
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
15
Design Study A
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
16
Design Study A
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
17
Design Study A
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
18
Python Implementation:
https://github.com/randybeard/controlbook_public/tree/master/_A_arm/python
ctrlPDhw7.py
hw07_armSim.py