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Control Systems (Proportional Integral control image (Kp (Decreases
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Control Systems
Proportional Integral control 
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Kp
Decreases
- Rise time
- Steady State Error
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What makes a robot?
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Power Source: The source of energy to power the active sensors and actuators as well as the computer
Computer controllers:Decides the sequence of actions to take, based on sensor measurements to achieve its objective.
Numbering Systems
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N-bit integer range
Unsigned:
Signed
Negative Numbers
Two's complement: Take the complement of the binary numbers (inverse the bits) and add 1
- Benefits include being able to use the same binary adder, however the result is extremely dependent on the number of bits.
- Positive numbers have a most significant bit of 0
- Negative numbers have a most significant bit of 1
Overflow can occur in two's complement when the sum is greater than the range that is allowed by the number of bits.
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Terminology
Plant:System that is trying to be controlled.
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Controller:Commands the actuators to manipulate the plant output based on sensor measurements to achieve a desired output.
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Feedback controller
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Predictive:A controller that looks ahead and predicts the plant output and adjusts its commands accordingly
Issues
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Integrator Windup:Occurs when an actuator is saturated in the presence of a controller with an integrator component.
A saturated actuator responds slower resulting in a higher integral action but doesn't affect the saturated actuator, It keeps getting bigger until the output overshoots the desired value, where the control action reverses until it is small enough to not cause saturation.
Solution: Reduce controller gain to avoid saturation, or stop iterating once the actuators are saturated.
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On-Off Control
Control action, u can either be ON or OFF
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Proportional Control
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Can give a steady state error depending on the plant type.
- P controller + type 0 plant = steady state error
- P controller + type 1 plant = no steady state error
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