CS545_Lecture_3

# CS545_Lecture_3 - CS545Contents III Basic Linear Control...

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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

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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
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

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Example: Pendulum Assumption: Point mass m No friction
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CS545_Lecture_3 - CS545Contents III Basic Linear Control...

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