CS545_Lecture_3 - CS545Contents III Basic Linear Control...

Info iconThis preview shows pages 1–5. Sign up to view the full content.

View Full Document Right Arrow Icon
CS545—Contents III Basic Linear Control Theory The plant The plant model Continuous vs. discrete systems The control policy Desired Trajectories Open Loop Control Feedback Control PID Control Negative Feedback Control Linear Systems Blockdiagrams Reading Assignment for Next Class See http://www-clmc.usc.edu/~cs545
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
The Plant (Robot) Robot Dynamics u ˙ x Inputs (Commands) x Outputs (States) Robot (Plant) Robot Dynamics u n x n + 1 Inputs (Commands) Outputs (States) Robot (Plant) Discrete Systems Continuous Systems
Background image of page 2
The Plant (Robot) Model Continuous Systems Discrete Systems Note: If time dependency exists: “time variant” or “nonstationary” or “nonautonomous” system If time dependency does not exist: “time invariant” or “stationary” or “autonomous” system ˙ x = f x , u , t ( ) y = g x , u , t ( ) x n + 1 = f x n , u n , n ( ) y n = g x n , u n , n ( ) System dynamics Output equations
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Example: Pendulum Assumption: Point mass m No friction
Background image of page 4
Image of page 5
This is the end of the preview. Sign up to access the rest of the document.

Page1 / 11

CS545_Lecture_3 - CS545Contents III Basic Linear Control...

This preview shows document pages 1 - 5. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online