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achapt 6

# achapt 6 - TRACKING THE REFERENCE PATH 6 TRACKING THE...

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TRACKING THE REFERENCE PATH 6 TRACKING THE REFERENCE PATH As stated earlier, the problem of controlling a dynamical system is customarily divided into two basic problems – tracking and regulation. The former is associated with moving a component from one equilibrium point to another, and the latter is associated with keeping the component at a given equilibrium point. The simplest form of tracking is accomplished without feedback – by applying a force that's an explicit function of time. A tracking force that is an explicit function of time is also called an open-loop tracking force . The design of an open-loop tracking force can be divided into two steps. The first step is associated with specifying a desirable path to follow. The second step determines the tracking force. Rest-to- rest tracking and spin-up tracking are considered below. 1. Rest-to-Rest Tracking Consider a single degree of freedom point mass ( c = k = 0) subjected to a tracking force f . The MAE 461: DYNAMICS AND CONTROLS

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