Iterative modeling & control design
Tying together the threads
Modern model-based control needs two things A local performance objective using the nominal model A robustness measure involving the roug
Single Degree-of-Freedom gyro
Lecture 4 - Gimbale
1
Outline
Introduction to 1-DOF gyro
Dynamic model of 1-DOF gyro
Rate ( ) gyro and integrating ( ) gyro
1-DOF gyro for platform stabilization and
Basic Problems of INS
Lecture 5 - Basic pr
1
outline
Measurement of accelerometer - specific force
Mechanism of 1-axis INS and its errors
Acquisition of relative acceleration on Earth
Lecture 5 - B
Platform Inertial Navigation System
Lecture 6 - Basic typ
1
Outline platform INS
Classification of INS
Platform INS using local geographical mechanization
Platform INS using inertial mechanization
Mechanical Fundamentals
Unit 2 - Mechanical
1
Outline
About the Earth
Frequently used frames and frame transformation
Coriolis theorem( ) and Coriolis acceleration
Angular Momentum theorem ( )
Uni
Homework 5 - MAE143B Spring 2010: due Thursday May 13 Question 1: State reachability
Part i: Consider the linear system with xt I n , R xt = Axt + But . For T > 0, define the controllability Gramian a
Question 1
-1 Part i: Show that ut = -B e-A t Wc (0, T )i transfers the state x0 = xi to xT = 0. Note that the solution x to the ODE, xt = Axt + But ,
is, as was shown repeatedly and in various conte
Homework 6 - MAE143B Spring 2010: due Thursday May 20
This week's homework will consist of three parts all dealing with the same problem; the control of the nonlinear predator-prey model described in
Data preparation for System Identification
Carpentry
Preparation and prejudice
The sugar mill is available for experiment We need to get some prejudicial decision made before we can start delving into
Introduction to the Sugar Cane Crushing Mill
A video extravaganza
APC04 Vancouver
Joint Modeling & Control Design
Sugar cane crushing mill
Two-input two-output control problem Part of a sequence of fi
Midterm Exam - MAE143B Spring 2010; Tuesday May 4
Instructions
1. You have 75 minutes; 9:30 to 10:45. 2. The exam is open-book and open-notes. 3. Answer all the questions you are able to. 4. The quest
Linearization
Bob Bitmead, April 19, 2010.
Linearized ODEs
Consider the linearization of the first-order vector ordinary differential equation x = f (x, u). We use Taylor's theorem to linearize the so
Pendulum Example
Pendulums are very common to study in controls classes because they exhibit many interesting dynamic phenomena common to more complex systems, yet are very easy to model. Wikipedia ha
Bob's Code from class April 6 and 8, 2010
Here are the matlab examples that I provided in class. Mass-Spring-Damper system from car, function: function dydt = spring_dydt(t,y, k1, k2, k3 ,m1, m2, b, o
Cruise control example calculations
Open-loop system dynamics mv(t) = -bv(t) + u(t) + Fhill (t). Denote by vdes the desired highway speed of the car.
Open-loop behavior
Consider the following situatio
Homework 7 - MAE143B Spring 2010: due Thursday May 27 Question 1: Frequency response
Consider the linear system dn yt dn-1 yt dn-2 yt dyt dn-2 ut dut dn-1 ut + a1 n-1 + a2 n-2 + + an-1 1 + an yt = b1
Quaternions in SINS
Lecture 10 - Quatern
1
Outline - quaternion
Definition of quaternion
Operations of quaternions
Coordinate transformation using quaternions
Combination of successive rotations using