Lec 1 - INTRODUCTION TO CONTROL SYSTEM DESIGN The purpose...

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1 HET489 Robotic Control INTRODUCTION TO CONTROL SYSTEM DESIGN The purpose of the control system design is to make the system performance to meet the specifications. HET489 Robotic Control Performance specifications (Ch 5) The time response of a control system consists of two parts: · Transient response: the transient response goes from the initial state to the final state. · Steady state requirements: the steady state response means the system output behaves as the time approaches infinity.
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2 HET489 Robotic Control The performance specifications should not be more stringent than necessary to perform the given task. HET489 Robotic Control Typical test signals The commonly used test input signals are those of step functions, ramp function, acceleration functions, impulse functions, sinusoidal functions and the like.
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3 HET489 Robotic Control Transient response First order systems HET489 Robotic Control Unit step response of first order systems When,
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4 HET489 Robotic Control HET489 Robotic Control Unit ramp response of the first order systems When,
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5 HET489 Robotic Control Second order systems The closed loop transfer function is: This is called the standard form of the second order system. HET489 Robotic Control The system has two closed loop poles, The dynamic behaviour of the second order system is determined by the position of two poles or described in terms of two parameters
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6 HET489 Robotic Control Relation between the characteristic equation roots of the second order system and the damping ratio and the nature frequency. HET489 Robotic Control
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7 HET489 Robotic Control HET489 Robotic Control
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8 HET489 Robotic Control Definition of transient response specification ·D e l a y t im e ·R i s e t e ·P e a k t e ·M a x um
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This note was uploaded on 06/02/2010 for the course HET 489 taught by Professor Zhenwei during the Three '08 term at Swinburne.

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Lec 1 - INTRODUCTION TO CONTROL SYSTEM DESIGN The purpose...

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