Introduction to Feedback Control using Design Studies

Description

This textbook provides a unique introduction to Feedback Control. It differs from typical control books by presenting principles in the context of three specific design examples: a one link robot arm, a pendulum on a cart, and a satellite attitude problem. These three design examples illustrate the full process of implementing control strategies on mechanical systems. The book begins by introducing the Euler Lagrange method for modeling mechanical systems and discusses computer simulation of these models. Linear design models are developed, specifically transfer function and state space models, that capture the behavior of the system around equilibria. The book then presents three different design strategies for output feedback control: PID control, observer based design, and loopshaping design methods based on the frequency response of the system. Extensive examples show how the controllers are implemented in Simulink, Matlab object oriented code, and Python. 1 Introduction Design Study A: Single Link Robot Arm Design Study B: Pendulum on a Cart Design Study C: Satellite Attitude Control I Simulation Models 2 Kinetic Energy 3 Euler-Lagrange II Design Models 4 Linearization 5 Transfer Functions 6 State Space Models III PID Control Design 7 Second Order Systems 8 Second Order Design 9 Integrators 10 Digital PID IV Observer Based Control Design 11 Full State Feedback 12 Full State with Integrators 13 Observers 14 Disturbance Observers V Loopshaping Control Design 15 Frequency Response 16 Frequency Specifications 17 Stability and Robustness Margins 18 Compensator Design VI Homework Problems D Design Study: Mass Spring Damper E Design Study: Ball on Beam F Design Study: Planar VTOL Appendices P.1 Simulating Control Systems in Python P.2 Simulating Control Systems in Matlab P.3 Simulating Control Systems in Simulink P.4 Numerical ODE Solvers P.5 Differential Equations P.6 Root Locus P.7 Linear Algebra Bibliography Index