Feedback
Control
Dynamics
Intro
Frequency
domain
1st order
2nd order
- step response
- time constant
- equation
- step response
- rise time
- overshoot
- settling time
- natural frequency
- damping ratio
Tools
Why feedback?
Block-diagrams
Modeling
Black's formula
Modeling
- Electromagnetic
- Mechanisms
- Electronic circuits
- Continuous
- Switching
Control Loop
- Return Ratio (- L.T.)
vs. Closed Loop - Characteristic Equation
- Loop shaping
Tools
- Spring-mass-damper
- Impedances
- Admittances
-Bond-graph
- On/Off control
- PID control
Linear Time Invariant systems
Implementation
Issues
Frequency responses
- Return ratio
- Controller
- Closed Loop
- Sensitivity
Performance
Specs
Time-domain
- Rise time
- Time to peak magnitude
- Peak magnitude / overshoot
- Settling time (within 1% of set-point)
- Steady-state tracking error
Frequency-domain
- Tracking error with frequency
- Disturbance rejection
- Stability through Gang of 6 / 4
Stability-Robustness
- Phase-margin
- Gain-margin
- Cross-over
frequency
- Continuous vs. Discrete time
- Quantization
- Saturation
- Non-linearities
- Simulation vs. experiments
What is feedback?
Fundamental Limits
- Bode's integral formula
- Gain Crossover Frequency Inequality
- The Maximum Modulus Principle
Advanced
Topics
Feed-forward
Reference shaping
State-Space
- MIMO systems
- Computation
- Block-diagrams
- Transfer functions
- State-space
- Pole-zero map
- Bode plots
- Root Locus
- Nyquist
Gain Scheduling
Iterative Learning Control
Adaptive feed-forward