lec05 - 6.003: Signals and Systems Feedback and Control...

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6.003: Signals and Systems Feedback and Control September 24, 2009
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Last Time Understanding the structure of a control problem automatic control feedback Analyzing feedback systems feedback cyclic paths persistent outputs Designing control systems constructing well-behaved response properties
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Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left
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Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left steer left
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Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left steer left straight ahead?
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Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left steer left straight ahead? steer right
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Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left steer left straight ahead? steer right steer right
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Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left steer left straight ahead? steer right steer right steer right
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Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left steer left straight ahead? steer right steer right steer right straight ahead? Bad algorithm poor performance. Here we get persistent oscillations!
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Last Time We investigated a VERY simple model for the car. The car could move laterally in a lane without rotating! see previous ( 1 ) command 1
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Last Time We investigated a VERY simple model for the car. The car could move laterally in a lane without rotating! see previous ( 1 ) command 1 see previous ( 0 ) command 0
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Last Time We investigated a VERY simple model for the car. The car could move laterally in a lane without rotating! see previous ( 1 ) command 1 see previous ( 0 ) command 0 see previous ( +1 ) command 1
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Last Time We investigated a VERY simple model for the car. The car could move laterally in a lane without rotating! see previous ( 1 ) command 1 see previous ( 0 ) command 0 see previous ( +1 ) command 1 see previous ( +1 ) command 1
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Last Time We investigated a VERY simple model for the car. The car could move laterally in a lane without rotating! see previous ( 1 ) command 1 see previous ( 0 ) command 0 see previous ( +1 ) command 1 see previous ( +1 ) command 1 see previous ( 0 ) command 0
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We investigated a VERY simple model for the car. The car could move laterally in a lane without rotating! see previous ( 1 ) command 1 see previous ( 0 ) command 0 see previous ( +1 ) command 1 see previous ( +1 ) command 1 see previous ( 0 ) command 0 Even that simple system could go unstable. Last time, we learned how to stablize it.
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lec05 - 6.003: Signals and Systems Feedback and Control...

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