Difference between revisions of "Solutions"
From FBSwiki
| Line 43: | Line 43: | ||
=== {{chlink|System Modeling}} === | === {{chlink|System Modeling}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Chain of integrators form|fi=chainofint.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.1|ti=Chain of integrators form|fi=chainofint.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=Inverted pendulum|fi=balance-bal2inv.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.2|ti=Inverted pendulum|fi=balance-bal2inv.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Disrete-time dynamics|fi=discrete-solutions.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.3|ti=Disrete-time dynamics|fi=discrete-solutions.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Keynesian economics|fi=discrete-keynes.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.4|ti=Keynesian economics|fi=discrete-keynes.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Least squares system identification|fi=sysid-leastsq.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.5|ti=Least squares system identification|fi=sysid-leastsq.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Normalized oscillator dynamics|fi=oscillator.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.6|ti=Normalized oscillator dynamics|fi=oscillator.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Electric generator|fi=powergrid.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.7|ti=Electric generator|fi=powergrid.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Admission control for a queue|fi=queue-admcontrol.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.8|ti=Admission control for a queue|fi=queue-admcontrol.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Biological switch|fi=biocircuits-switchmod.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.9|ti=Biological switch|fi=biocircuits-switchmod.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Motor drive|fi=dcmotor-modeling.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.10|ti=Motor drive|fi=dcmotor-modeling.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Uncertainty lemon|fi=lemon.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.11|ti=Uncertainty lemon|fi=lemon.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=Frequency response|fi=freqresp.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.12|ti=Frequency response|fi=freqresp.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=Eye and head motion|fi=occular-blockdiag.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.13|ti=Eye and head motion|fi=occular-blockdiag.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=Second-order system identification|fi=sysid-logdec.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.14|ti=Second-order system identification|fi=sysid-logdec.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=Insect vision|fi=flyvision.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.15|ti=Insect vision|fi=flyvision.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=State space model for balance systems|fi=balance-statespace.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.16|ti=State space model for balance systems|fi=balance-statespace.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=|fi=fingerflame.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.17|ti=|fi=fingerflame.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=Consensus and invariants|fi=compsys-invariants.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.18|ti=Consensus and invariants|fi=compsys-invariants.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=Electric motor|fi=electricmotor.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.19|ti=Electric motor|fi=electricmotor.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=|fi=exothermic.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.20|ti=|fi=exothermic.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=21|ti=|fi=caffeine.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.21|ti=|fi=caffeine.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=22|ti=|fi=ballbeam-modeling.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.22|ti=|fi=ballbeam-modeling.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=23|ti=|fi=pvtol2invpend.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.23|ti=|fi=pvtol2invpend.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=24|ti=|fi=flyflight.tex|st=|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.24|ti=|fi=flyflight.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=25|ti=|fi=pendulum.tex|st=P|au=|co=|re=}} | + | {{exitem|di=modeling|ex=2.25|ti=|fi=pendulum.tex|st=P|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Examples}} === | === {{chlink|Examples}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Cruise control|fi=cruise-hillsim.tex|st=|au=|co=|re=}} | + | {{exitem|di=examples|ex=1|ti=Cruise control|fi=cruise-hillsim.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=Bicycle dynamics|fi=bicycle-statespace.tex|st=|au=|co=|re=}} | + | {{exitem|di=examples|ex=2|ti=Bicycle dynamics|fi=bicycle-statespace.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Bicycle steering|fi=bicycle-steering.tex|st=|au=|co=|re=}} | + | {{exitem|di=examples|ex=3|ti=Bicycle steering|fi=bicycle-steering.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Operational amplifier circuit|fi=opamp-twopole.tex|st=P|au=|co=|re=}} | + | {{exitem|di=examples|ex=4|ti=Operational amplifier circuit|fi=opamp-twopole.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Operational amplifier oscillator|fi=opamp-osc.tex|st=P|au=|co=|re=}} | + | {{exitem|di=examples|ex=5|ti=Operational amplifier oscillator|fi=opamp-osc.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Congestion control using RED~\cite{Low+02:infocom}|fi=congctrl-red.tex|st=P|au=|co=|re=}} | + | {{exitem|di=examples|ex=6|ti=Congestion control using RED~\cite{Low+02:infocom}|fi=congctrl-red.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Atomic force microscope with piezo tube|fi=afm-preload.tex|st=P|au=|co=|re=}} | + | {{exitem|di=examples|ex=7|ti=Atomic force microscope with piezo tube|fi=afm-preload.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Drug administration|fi=drugadmin-alcohol.tex|st=|au=|co=|re=}} | + | {{exitem|di=examples|ex=8|ti=Drug administration|fi=drugadmin-alcohol.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Population dynamics|fi=logistic.tex|st=|au=|co=|re=}} | + | {{exitem|di=examples|ex=9|ti=Population dynamics|fi=logistic.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Fisheries management|fi=fishery-modeling.tex|st=P|au=|co=|re=}} | + | {{exitem|di=examples|ex=10|ti=Fisheries management|fi=fishery-modeling.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=|fi=powertrain.tex|st=P|au=|co=|re=}} | + | {{exitem|di=examples|ex=11|ti=|fi=powertrain.tex|st=P|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Dynamic Behavior}} === | === {{chlink|Dynamic Behavior}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Time-invariant systems|fi=timeshift.tex|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=1|ti=Time-invariant systems|fi=timeshift.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=Flow in a tank|fi=tank-modeling.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=2|ti=Flow in a tank|fi=tank-modeling.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Cruise control|fi=cruise-phaseplot.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=3|ti=Cruise control|fi=cruise-phaseplot.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Lyapunov functions|fi=lyap-secord.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=4|ti=Lyapunov functions|fi=lyap-secord.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Damped spring--mass system|fi=lyap-oscillator.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=5|ti=Damped spring--mass system|fi=lyap-oscillator.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Electric generator|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=6|ti=Electric generator|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Lyapunov equation|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=7|ti=Lyapunov equation|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Congestion control|fi=congctrl-lyapstab.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=8|ti=Congestion control|fi=congctrl-lyapstab.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Swinging up a pendulum|fi=invpend-swingup.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=9|ti=Swinging up a pendulum|fi=invpend-swingup.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Root locus diagram|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=10|ti=Root locus diagram|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Discrete-time Lyapunov function|fi=discrete-lyapunov.tex|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=11|ti=Discrete-time Lyapunov function|fi=discrete-lyapunov.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=Operational amplifier oscillator|fi=opamp-oscnl.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=12|ti=Operational amplifier oscillator|fi=opamp-oscnl.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=Self-activating genetic circuit|fi=biocircuits-posfbk.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=13|ti=Self-activating genetic circuit|fi=biocircuits-posfbk.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=Diagonal systems|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=14|ti=Diagonal systems|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=Furuta pendulum|fi=furuta.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=15|ti=Furuta pendulum|fi=furuta.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=Routh-Hurwitz criterion|fi=routh.tex|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=16|ti=Routh-Hurwitz criterion|fi=routh.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=17|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=18|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=|fi=predprey-limit.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=19|ti=|fi=predprey-limit.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=Windup protection by conditional integration|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=20|ti=Windup protection by conditional integration|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=21|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=21|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=22|ti=Spike generation in neurons|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=22|ti=Spike generation in neurons|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=23|ti=|fi=compsys-consensus.tex|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=23|ti=|fi=compsys-consensus.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=24|ti=Steering dynamics of a ship|fi=tanker-dynamics.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=24|ti=Steering dynamics of a ship|fi=tanker-dynamics.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=25|ti=Pitchfork bifurcation|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=25|ti=Pitchfork bifurcation|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=26|ti=|fi=stabexmp-mooregreitzer.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=26|ti=|fi=stabexmp-mooregreitzer.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=27|ti=|fi=cruise-lyapunov.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=27|ti=|fi=cruise-lyapunov.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=28|ti=|fi=lyapexmp.tex|st=P|au=|co=|re=}} | + | {{exitem|di=dynamics|ex=28|ti=|fi=lyapexmp.tex|st=P|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Linear Systems}} === | === {{chlink|Linear Systems}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Response to the derivative of a signal|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=1|ti=Response to the derivative of a signal|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=Impulse response and convolution|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=2|ti=Impulse response and convolution|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Pulse response for a compartment model|fi=compartment-pulse.tex|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=3|ti=Pulse response for a compartment model|fi=compartment-pulse.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Matrix exponential for second-order system|fi=matrixexp.tex|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=4|ti=Matrix exponential for second-order system|fi=matrixexp.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Lyapunov function for a linear system|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=5|ti=Lyapunov function for a linear system|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Nondiagonal Jordan form|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=6|ti=Nondiagonal Jordan form|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Rise time for a first-order system|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=7|ti=Rise time for a first-order system|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Discrete-time systems|fi=discrete-linsys.tex|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=8|ti=Discrete-time systems|fi=discrete-linsys.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Keynesian economics|fi=discrete-keynes.tex|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=9|ti=Keynesian economics|fi=discrete-keynes.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=10|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Transcriptional regulation|fi=biocircuits-negfbk.tex|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=11|ti=Transcriptional regulation|fi=biocircuits-negfbk.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=Normalized coordinates for second-order system|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=12|ti=Normalized coordinates for second-order system|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=Matrix exponential for Jordan form|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=13|ti=Matrix exponential for Jordan form|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=Solution of a second-order system|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=14|ti=Solution of a second-order system|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=Monotone step response|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=15|ti=Monotone step response|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=16|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=17|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=|fi=linexmp-coupled.tex|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=18|ti=|fi=linexmp-coupled.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=State variables in compartment models|fi=compartment-states.tex|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=19|ti=State variables in compartment models|fi=compartment-states.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=|fi=queue-linsys.tex|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=20|ti=|fi=queue-linsys.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=21|ti=Keynes model in continuous time|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=linsys|ex=21|ti=Keynes model in continuous time|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=22|ti=|fi=cartpend.tex|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=22|ti=|fi=cartpend.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=23|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=linsys|ex=23|ti=|fi=missing|st=P|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|State Feedback}} === | === {{chlink|State Feedback}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Double integrator|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=1|ti=Double integrator|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=Reachability from nonzero initial state|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=2|ti=Reachability from nonzero initial state|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Unreachable systems|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=3|ti=Unreachable systems|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Integral feedback for rejecting constant disturbances|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=4|ti=Integral feedback for rejecting constant disturbances|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Rear-steered bicycle|fi=bicycle-rearsteer.tex|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=5|ti=Rear-steered bicycle|fi=bicycle-rearsteer.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Characteristic polynomial for reachable canonical form|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=6|ti=Characteristic polynomial for reachable canonical form|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Reachability matrix for reachable canonical form|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=7|ti=Reachability matrix for reachable canonical form|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Non-maintainable equilibria|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=8|ti=Non-maintainable equilibria|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Eigenvalue assignment for unreachable system|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=9|ti=Eigenvalue assignment for unreachable system|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Cayley--Hamilton theorem|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=10|ti=Cayley--Hamilton theorem|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Motor drive|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=11|ti=Motor drive|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=Whipple bicycle model|fi=bicycle-whipple.tex|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=12|ti=Whipple bicycle model|fi=bicycle-whipple.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=Atomic force microscope|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=13|ti=Atomic force microscope|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=14|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=Bryson's rule|fi=brysons-rule.tex|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=15|ti=Bryson's rule|fi=brysons-rule.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=|fi=integral-refgain.tex|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=16|ti=|fi=integral-refgain.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=Unreachable compartment model|fi=compartment-nonreach.tex|st=P|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=17|ti=Unreachable compartment model|fi=compartment-nonreach.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=18|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=statefbk|ex=19|ti=|fi=missing|st=|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Output Feedback}} === | === {{chlink|Output Feedback}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Coordinate transformations|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=1|ti=Coordinate transformations|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=2|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Observable canonical form|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=3|ti=Observable canonical form|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Bicycle dynamics|fi=bicycle-observability.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=4|ti=Bicycle dynamics|fi=bicycle-observability.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Integral action|fi=integral-action.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=5|ti=Integral action|fi=integral-action.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Vectored thrust aircraft|fi=pvtol-ssctrl.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=6|ti=Vectored thrust aircraft|fi=pvtol-ssctrl.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Uniqueness of observers|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=7|ti=Uniqueness of observers|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Observers using differentiation|fi=diff.tex|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=8|ti=Observers using differentiation|fi=diff.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Observer for Teorell's compartment model|fi=compartment-teorellobs.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=9|ti=Observer for Teorell's compartment model|fi=compartment-teorellobs.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Observer design for motor drive|fi=dcmotor-observer.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=10|ti=Observer design for motor drive|fi=dcmotor-observer.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Feedforward design for motor drive|fi=dcmotor-feedforward.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=11|ti=Feedforward design for motor drive|fi=dcmotor-feedforward.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=Whipple bicycle model|fi=bicycle-whipple.tex|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=12|ti=Whipple bicycle model|fi=bicycle-whipple.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=Discrete-time random walk|fi=kalman-randomwalk.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=13|ti=Discrete-time random walk|fi=kalman-randomwalk.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=Kalman decomposition|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=14|ti=Kalman decomposition|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=15|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=Balance system|fi=balance-observable.tex|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=16|ti=Balance system|fi=balance-observable.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=Balance system with biased measurement|fi=balance-statectrl.tex|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=17|ti=Balance system with biased measurement|fi=balance-statectrl.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=Duality|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=18|ti=Duality|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=Balance system|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=19|ti=Balance system|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=Trajectory generation|fi=trajgen-scalar.tex|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=20|ti=Trajectory generation|fi=trajgen-scalar.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=21|ti=Selection of eigenvalues|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=21|ti=Selection of eigenvalues|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=22|ti=Kalman filter for scalar ODE|fi=kalman-scalar.tex|st=P|au=|co=|re=}} | + | {{exitem|di=outputfbk|ex=22|ti=Kalman filter for scalar ODE|fi=kalman-scalar.tex|st=P|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Transfer Functions}} === | === {{chlink|Transfer Functions}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=1|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=|fi=modalinput.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=2|ti=|fi=modalinput.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Inverted pendulum|fi=invpend-xferfcn.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=3|ti=Inverted pendulum|fi=invpend-xferfcn.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Solutions corresponding to poles and zeros|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=4|ti=Solutions corresponding to poles and zeros|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Operational amplifier|fi=opamp-pictrl.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=5|ti=Operational amplifier|fi=opamp-pictrl.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Transfer function for state space system|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=6|ti=Transfer function for state space system|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Kalman decomposition|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=7|ti=Kalman decomposition|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=8|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Bode plot for a simple zero|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=9|ti=Bode plot for a simple zero|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Vectored thrust aircraft|fi=pvtol-lateraltf.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=10|ti=Vectored thrust aircraft|fi=pvtol-lateraltf.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Common poles|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=11|ti=Common poles|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=Congestion control|fi=congctrl-xferfcns.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=12|ti=Congestion control|fi=congctrl-xferfcns.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=Inverted pendulum with PD control|fi=invpend-pzcancel.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=13|ti=Inverted pendulum with PD control|fi=invpend-pzcancel.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=Vehicle suspension~\cite{hedrick90}|fi=vehicle-quartercar.tex|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=14|ti=Vehicle suspension~\cite{hedrick90}|fi=vehicle-quartercar.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=Vibration absorber|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=15|ti=Vibration absorber|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=|fi=freqexamps.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=16|ti=|fi=freqexamps.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=|fi=model-simplification.tex|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=17|ti=|fi=model-simplification.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=|fi=cruise-pictrl.tex|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=18|ti=|fi=cruise-pictrl.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=|fi=dcmotor-xferfcn.tex|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=19|ti=|fi=dcmotor-xferfcn.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=20|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=21|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=21|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=22|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=22|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=23|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=xferfcns|ex=23|ti=|fi=missing|st=|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Frequency Domain Analysis}} === | === {{chlink|Frequency Domain Analysis}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Operational amplifier|fi=opamp-unitygain.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=1|ti=Operational amplifier|fi=opamp-unitygain.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=Atomic force microscope|fi=afm-tapping.tex|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=2|ti=Atomic force microscope|fi=afm-tapping.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Heat conduction|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=3|ti=Heat conduction|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Vectored thrust aircraft|fi=pvtol-looptf.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=4|ti=Vectored thrust aircraft|fi=pvtol-looptf.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Vehicle steering|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=5|ti=Vehicle steering|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Stability margins for second-order systems|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=6|ti=Stability margins for second-order systems|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Congestion control in overload conditions|fi=congctrl-overload.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=7|ti=Congestion control in overload conditions|fi=congctrl-overload.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Bode's formula|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=8|ti=Bode's formula|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Pad\'e approximation to a time delay|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=9|ti=Pad\'e approximation to a time delay|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Inverse response|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=10|ti=Inverse response|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Describing function analysis|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=11|ti=Describing function analysis|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=Right half-plane pole|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=12|ti=Right half-plane pole|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=Third-order system|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=13|ti=Third-order system|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=|fi=bodenyq.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=14|ti=|fi=bodenyq.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=Congestion control using TCP/Reno|fi=congctrl-margins.tex|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=15|ti=Congestion control using TCP/Reno|fi=congctrl-margins.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=|fi=opamp-routh.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=16|ti=|fi=opamp-routh.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=17|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=Limitations|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=18|ti=Limitations|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=Limitations|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=19|ti=Limitations|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=Delay differential equations|fi=delayde.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=20|ti=Delay differential equations|fi=delayde.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=21|ti=Cruise control design|fi=cruise-pictrl.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopanal|ex=21|ti=Cruise control design|fi=cruise-pictrl.tex|st=P|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|PID Control}} === | === {{chlink|PID Control}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=Ideal PID controllers|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=pid|ex=1|ti=Ideal PID controllers|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=pid|ex=2|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=3|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=Ziegler--Nichols tuning|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=4|ti=Ziegler--Nichols tuning|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Vehicle steering|fi=steering-pi.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=5|ti=Vehicle steering|fi=steering-pi.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Congestion control|fi=congctrl-pituning.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=6|ti=Congestion control|fi=congctrl-pituning.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Motor drive|fi=dcmotor-pdctrl.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=7|ti=Motor drive|fi=dcmotor-pdctrl.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=pid|ex=8|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Tuning rules|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=9|ti=Tuning rules|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Windup and anti-windup|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=pid|ex=10|ti=Windup and anti-windup|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=Windup protection by conditional integration|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=11|ti=Windup protection by conditional integration|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=|fi=pidmethods.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=12|ti=|fi=pidmethods.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=|fi=pidexmps.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=13|ti=|fi=pidexmps.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=Compartment model|fi=compartment-monotone.tex|st=|au=|co=|re=}} | + | {{exitem|di=pid|ex=14|ti=Compartment model|fi=compartment-monotone.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=15|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=|fi=pirlocus.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=16|ti=|fi=pirlocus.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=|fi=pvtol-pid.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=17|ti=|fi=pvtol-pid.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=Ball and beam|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=pid|ex=18|ti=Ball and beam|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=|fi=balance-pid.tex|st=P|au=|co=|re=}} | + | {{exitem|di=pid|ex=19|ti=|fi=balance-pid.tex|st=P|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Frequency Domain Synthesis}} === | === {{chlink|Frequency Domain Synthesis}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=1|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=2|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=3|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=4|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Sensitivity of feedback and feedforward|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=5|ti=Sensitivity of feedback and feedforward|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Equivalence of controllers with two degrees of freedom|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=6|ti=Equivalence of controllers with two degrees of freedom|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=Disturbance attenuation|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=7|ti=Disturbance attenuation|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Disturbance reduction through feedback|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=8|ti=Disturbance reduction through feedback|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=9|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Attenuation of low-frequency sinusoidal disturbances|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=10|ti=Attenuation of low-frequency sinusoidal disturbances|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=11|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=12|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=13|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=Phase margin formulas|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=14|ti=Phase margin formulas|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=|fi=balance-visual.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=15|ti=|fi=balance-visual.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=Rear-steered bicycle|fi=bicycle-rearsteer.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=16|ti=Rear-steered bicycle|fi=bicycle-rearsteer.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=17|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=Rise-time/bandwidth product|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=18|ti=Rise-time/bandwidth product|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=19|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=|fi=znlimits.tex|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=20|ti=|fi=znlimits.tex|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=21|ti=Pole in the right half-plane and time delay|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=21|ti=Pole in the right half-plane and time delay|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=22|ti=Cancellation of unstable process zero|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=22|ti=Cancellation of unstable process zero|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=23|ti=Limitations on achievable phase lag|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=23|ti=Limitations on achievable phase lag|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=24|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=24|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=25|ti=Performance characteristics of second-order systems|fi=secord-perf.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=25|ti=Performance characteristics of second-order systems|fi=secord-perf.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=26|ti=|fi=secord-rhpz.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=26|ti=|fi=secord-rhpz.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=27|ti=Integral of complementary sensitivity|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=27|ti=Integral of complementary sensitivity|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=28|ti=Bode's integral|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=28|ti=Bode's integral|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=29|ti=Lead compensator for an insect flight control system|fi=flylead.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=29|ti=Lead compensator for an insect flight control system|fi=flylead.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=30|ti=Control of a magnetic levitation system|fi=maglev.tex|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=30|ti=Control of a magnetic levitation system|fi=maglev.tex|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=31|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=31|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=32|ti=|fi=pvtol-gangof4.tex|st=|au=|co=|re=}} | + | {{exitem|di=loopsyn|ex=32|ti=|fi=pvtol-gangof4.tex|st=|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
=== {{chlink|Robust Performance}} === | === {{chlink|Robust Performance}} === | ||
{{exercise table begin}} | {{exercise table begin}} | ||
| − | {{exitem|di=|ex=1|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=1|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=2|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=2|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=3|ti=Difference in sensitivity functions|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=3|ti=Difference in sensitivity functions|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=4|ti=The Riemann sphere|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=4|ti=The Riemann sphere|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=5|ti=Stability margins|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=5|ti=Stability margins|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=6|ti=Bode's ideal loop transfer function|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=6|ti=Bode's ideal loop transfer function|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=7|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=7|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=8|ti=Smith predictor|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=8|ti=Smith predictor|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=9|ti=Ideal delay compensator|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=9|ti=Ideal delay compensator|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=10|ti=Vehicle steering|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=10|ti=Vehicle steering|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=11|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=11|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=12|ti=AFM nanopositioning system|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=12|ti=AFM nanopositioning system|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=13|ti=$H_\infty$ control|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=13|ti=$H_\infty$ control|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=14|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=14|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=15|ti=|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=15|ti=|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=16|ti=Robustness using the Nyquist criterion|fi=missing|st=P|au=|co=|re=}} | + | {{exitem|di=robperf|ex=16|ti=Robustness using the Nyquist criterion|fi=missing|st=P|au=|co=|re=}} |
| − | {{exitem|di=|ex=17|ti=Robustness inequalities|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=17|ti=Robustness inequalities|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=18|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=18|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=19|ti=|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=19|ti=|fi=missing|st=|au=|co=|re=}} |
| − | {{exitem|di=|ex=20|ti=Disk drive tracking|fi=missing|st=|au=|co=|re=}} | + | {{exitem|di=robperf|ex=20|ti=Disk drive tracking|fi=missing|st=|au=|co=|re=}} |
{{exercise table end}} | {{exercise table end}} | ||
Revision as of 19:05, 1 February 2008
This page contains a list of the exercises in the text, including supplemental problems. It is mainly intended for use by people who are generating solutions to the exercises.
Guide to entries
Each entry in the table below contains the following information (the two-letter code in parenthesis is used in the table entry macros):
- Exercise number (ex): the number of the exercise in the solutions manual. Items marked with a * appear in the printed version of the text.
- Directory (di): the name of the subdirectory where the exercise appears. This does not appear in the table directly, but is used to create the link to the exercise.
- Title (ti): a short descriptive title for the exercise.
- Filename (fi): the base filename used for the exercise. Clicking on the link will take you to the LaTeX source code for the exercise (requires login).
- Solution status (st): current status of the solutions. The following abbreviations are used:
- C (complete) - complete solution is available
- P (partial) - partial or preliminary solution is available
- I (in progress) - solution is being written, but is not yet available
- U (unavailable) - no solution is currently available
- X (not planned) - no solution is planned
- Author (au): initials for the author of the solutions
- Comment (co): additional comments.
How to sign up to write a solution for an exercise:
- Find an exercise whose solution status is either unavailable (U) or partial (P)
- Edit the table and add your name to the 're' entry in the table
- Add the page to your watch list so that you can see when there is a change in status
- Wait until you are assigned a set of problems to work on (status will be changed to 'I', with your initials listed in the author column.
Chapter 1 - Introduction
| Num | Title | Filename | Stat | Auth | Comments |
| 1.1* | Occular motion | eyemotion | C | KJA | |
| 1.2* | Feedback examples | fbkexamps | C | Misc | |
| 1.3* | Human balance | balance-human | U | Open | |
| 1.4* | Cruise control redesign | cruise-redesign | U | Open | |
| 1.5* | Integral action | integral | C | KJA | |
| 1.6* | Popular press articles | nytexamps | C | ||
| 1.7 | Milk supply chain | milksupply | P | KJA | Figure missing |
| 1.8 | MATLAB cruise control | cruise-mlintro | P | Misc | Preliminary solution available; could be cleaned up |
| 1.9 | MATLAB ball and beam | ballbeam-mlintro | P | Misc | Preliminary solution available; could be cleaned up |
| 1.10 | Web search: voltage clamp | voltageclamp | U | Give short intro plus web links | |
| 1.11 | Web search: haptics and force feedback | haptics | U | Give short intro plus web links | |
| 1.12 | Anti-rollover control | rollover | U | Give short summary of regulations |
Chapter 2 - System Modeling
| Num | Title | Filename | Stat | Auth | Comments |
| 2.1 | Chain of integrators form | chainofint.tex | |||
| 2.2 | Inverted pendulum | balance-bal2inv.tex | P | ||
| 2.3 | Disrete-time dynamics | discrete-solutions.tex | P | ||
| 2.4 | Keynesian economics | discrete-keynes.tex | |||
| 2.5 | Least squares system identification | sysid-leastsq.tex | |||
| 2.6 | Normalized oscillator dynamics | oscillator.tex | P | ||
| 2.7 | Electric generator | powergrid.tex | P | ||
| 2.8 | Admission control for a queue | queue-admcontrol.tex | P | ||
| 2.9 | Biological switch | biocircuits-switchmod.tex | P | ||
| 2.10 | Motor drive | dcmotor-modeling.tex | P | ||
| 2.11 | Uncertainty lemon | lemon.tex | P | ||
| 2.12 | Frequency response | freqresp.tex | |||
| 2.13 | Eye and head motion | occular-blockdiag.tex | P | ||
| 2.14 | Second-order system identification | sysid-logdec.tex | |||
| 2.15 | Insect vision | flyvision.tex | P | ||
| 2.16 | State space model for balance systems | balance-statespace.tex | |||
| 2.17 | fingerflame.tex | P | |||
| 2.18 | Consensus and invariants | compsys-invariants.tex | P | ||
| 2.19 | Electric motor | electricmotor.tex | P | ||
| 2.20 | exothermic.tex | ||||
| 2.21 | caffeine.tex | P | |||
| 2.22 | ballbeam-modeling.tex | P | |||
| 2.23 | pvtol2invpend.tex | ||||
| 2.24 | flyflight.tex | ||||
| 2.25 | pendulum.tex | P |
Chapter 3 - Examples
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | Cruise control | cruise-hillsim.tex | |||
| 2 | Bicycle dynamics | bicycle-statespace.tex | |||
| 3 | Bicycle steering | bicycle-steering.tex | |||
| 4 | Operational amplifier circuit | opamp-twopole.tex | P | ||
| 5 | Operational amplifier oscillator | opamp-osc.tex | P | ||
| 6 | Congestion control using RED~\cite{Low+02:infocom} | congctrl-red.tex | P | ||
| 7 | Atomic force microscope with piezo tube | afm-preload.tex | P | ||
| 8 | Drug administration | drugadmin-alcohol.tex | |||
| 9 | Population dynamics | logistic.tex | |||
| 10 | Fisheries management | fishery-modeling.tex | P | ||
| 11 | powertrain.tex | P |
Chapter 4 - Dynamic Behavior
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | Time-invariant systems | timeshift.tex | |||
| 2 | Flow in a tank | tank-modeling.tex | P | ||
| 3 | Cruise control | cruise-phaseplot.tex | P | ||
| 4 | Lyapunov functions | lyap-secord.tex | P | ||
| 5 | Damped spring--mass system | lyap-oscillator.tex | P | ||
| 6 | Electric generator | missing | P | ||
| 7 | Lyapunov equation | missing | |||
| 8 | Congestion control | congctrl-lyapstab.tex | P | ||
| 9 | Swinging up a pendulum | invpend-swingup.tex | P | ||
| 10 | Root locus diagram | missing | P | ||
| 11 | Discrete-time Lyapunov function | discrete-lyapunov.tex | |||
| 12 | Operational amplifier oscillator | opamp-oscnl.tex | P | ||
| 13 | Self-activating genetic circuit | biocircuits-posfbk.tex | P | ||
| 14 | Diagonal systems | missing | P | ||
| 15 | Furuta pendulum | furuta.tex | P | ||
| 16 | Routh-Hurwitz criterion | routh.tex | |||
| 17 | missing | ||||
| 18 | missing | P | |||
| 19 | predprey-limit.tex | P | |||
| 20 | Windup protection by conditional integration | missing | P | ||
| 21 | missing | ||||
| 22 | Spike generation in neurons | missing | P | ||
| 23 | compsys-consensus.tex | ||||
| 24 | Steering dynamics of a ship | tanker-dynamics.tex | P | ||
| 25 | Pitchfork bifurcation | missing | |||
| 26 | stabexmp-mooregreitzer.tex | P | |||
| 27 | cruise-lyapunov.tex | P | |||
| 28 | lyapexmp.tex | P |
Chapter 5 - Linear Systems
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | Response to the derivative of a signal | missing | |||
| 2 | Impulse response and convolution | missing | |||
| 3 | Pulse response for a compartment model | compartment-pulse.tex | |||
| 4 | Matrix exponential for second-order system | matrixexp.tex | P | ||
| 5 | Lyapunov function for a linear system | missing | |||
| 6 | Nondiagonal Jordan form | missing | P | ||
| 7 | Rise time for a first-order system | missing | |||
| 8 | Discrete-time systems | discrete-linsys.tex | P | ||
| 9 | Keynesian economics | discrete-keynes.tex | |||
| 10 | missing | P | |||
| 11 | Transcriptional regulation | biocircuits-negfbk.tex | P | ||
| 12 | Normalized coordinates for second-order system | missing | |||
| 13 | Matrix exponential for Jordan form | missing | |||
| 14 | Solution of a second-order system | missing | |||
| 15 | Monotone step response | missing | |||
| 16 | missing | P | |||
| 17 | missing | P | |||
| 18 | linexmp-coupled.tex | P | |||
| 19 | State variables in compartment models | compartment-states.tex | |||
| 20 | queue-linsys.tex | P | |||
| 21 | Keynes model in continuous time | missing | |||
| 22 | cartpend.tex | P | |||
| 23 | missing | P |
Chapter 6 - State Feedback
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | Double integrator | missing | P | ||
| 2 | Reachability from nonzero initial state | missing | |||
| 3 | Unreachable systems | missing | |||
| 4 | Integral feedback for rejecting constant disturbances | missing | |||
| 5 | Rear-steered bicycle | bicycle-rearsteer.tex | P | ||
| 6 | Characteristic polynomial for reachable canonical form | missing | |||
| 7 | Reachability matrix for reachable canonical form | missing | P | ||
| 8 | Non-maintainable equilibria | missing | P | ||
| 9 | Eigenvalue assignment for unreachable system | missing | P | ||
| 10 | Cayley--Hamilton theorem | missing | |||
| 11 | Motor drive | missing | |||
| 12 | Whipple bicycle model | bicycle-whipple.tex | P | ||
| 13 | Atomic force microscope | missing | |||
| 14 | missing | P | |||
| 15 | Bryson's rule | brysons-rule.tex | |||
| 16 | integral-refgain.tex | ||||
| 17 | Unreachable compartment model | compartment-nonreach.tex | P | ||
| 18 | missing | ||||
| 19 | missing |
Chapter 7 - Output Feedback
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | Coordinate transformations | missing | |||
| 2 | missing | ||||
| 3 | Observable canonical form | missing | |||
| 4 | Bicycle dynamics | bicycle-observability.tex | P | ||
| 5 | Integral action | integral-action.tex | P | ||
| 6 | Vectored thrust aircraft | pvtol-ssctrl.tex | P | ||
| 7 | Uniqueness of observers | missing | |||
| 8 | Observers using differentiation | diff.tex | |||
| 9 | Observer for Teorell's compartment model | compartment-teorellobs.tex | P | ||
| 10 | Observer design for motor drive | dcmotor-observer.tex | P | ||
| 11 | Feedforward design for motor drive | dcmotor-feedforward.tex | P | ||
| 12 | Whipple bicycle model | bicycle-whipple.tex | |||
| 13 | Discrete-time random walk | kalman-randomwalk.tex | P | ||
| 14 | Kalman decomposition | missing | |||
| 15 | missing | ||||
| 16 | Balance system | balance-observable.tex | |||
| 17 | Balance system with biased measurement | balance-statectrl.tex | |||
| 18 | Duality | missing | |||
| 19 | Balance system | missing | |||
| 20 | Trajectory generation | trajgen-scalar.tex | |||
| 21 | Selection of eigenvalues | missing | |||
| 22 | Kalman filter for scalar ODE | kalman-scalar.tex | P |
Chapter 8 - Transfer Functions
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | missing | ||||
| 2 | modalinput.tex | P | |||
| 3 | Inverted pendulum | invpend-xferfcn.tex | P | ||
| 4 | Solutions corresponding to poles and zeros | missing | P | ||
| 5 | Operational amplifier | opamp-pictrl.tex | P | ||
| 6 | Transfer function for state space system | missing | P | ||
| 7 | Kalman decomposition | missing | |||
| 8 | missing | ||||
| 9 | Bode plot for a simple zero | missing | |||
| 10 | Vectored thrust aircraft | pvtol-lateraltf.tex | P | ||
| 11 | Common poles | missing | |||
| 12 | Congestion control | congctrl-xferfcns.tex | P | ||
| 13 | Inverted pendulum with PD control | invpend-pzcancel.tex | P | ||
| 14 | Vehicle suspension~\cite{hedrick90} | vehicle-quartercar.tex | |||
| 15 | Vibration absorber | missing | P | ||
| 16 | freqexamps.tex | P | |||
| 17 | model-simplification.tex | ||||
| 18 | cruise-pictrl.tex | P | |||
| 19 | dcmotor-xferfcn.tex | ||||
| 20 | missing | ||||
| 21 | missing | P | |||
| 22 | missing | ||||
| 23 | missing |
Chapter 9 - Frequency Domain Analysis
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | Operational amplifier | opamp-unitygain.tex | P | ||
| 2 | Atomic force microscope | afm-tapping.tex | |||
| 3 | Heat conduction | missing | P | ||
| 4 | Vectored thrust aircraft | pvtol-looptf.tex | P | ||
| 5 | Vehicle steering | missing | |||
| 6 | Stability margins for second-order systems | missing | P | ||
| 7 | Congestion control in overload conditions | congctrl-overload.tex | P | ||
| 8 | Bode's formula | missing | |||
| 9 | Pad\'e approximation to a time delay | missing | |||
| 10 | Inverse response | missing | P | ||
| 11 | Describing function analysis | missing | |||
| 12 | Right half-plane pole | missing | P | ||
| 13 | Third-order system | missing | |||
| 14 | bodenyq.tex | P | |||
| 15 | Congestion control using TCP/Reno | congctrl-margins.tex | |||
| 16 | opamp-routh.tex | P | |||
| 17 | missing | P | |||
| 18 | Limitations | missing | |||
| 19 | Limitations | missing | |||
| 20 | Delay differential equations | delayde.tex | P | ||
| 21 | Cruise control design | cruise-pictrl.tex | P |
Chapter 10 - PID Control
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | Ideal PID controllers | missing | |||
| 2 | missing | ||||
| 3 | missing | P | |||
| 4 | Ziegler--Nichols tuning | missing | P | ||
| 5 | Vehicle steering | steering-pi.tex | P | ||
| 6 | Congestion control | congctrl-pituning.tex | P | ||
| 7 | Motor drive | dcmotor-pdctrl.tex | P | ||
| 8 | missing | ||||
| 9 | Tuning rules | missing | P | ||
| 10 | Windup and anti-windup | missing | |||
| 11 | Windup protection by conditional integration | missing | P | ||
| 12 | pidmethods.tex | P | |||
| 13 | pidexmps.tex | P | |||
| 14 | Compartment model | compartment-monotone.tex | |||
| 15 | missing | P | |||
| 16 | pirlocus.tex | P | |||
| 17 | pvtol-pid.tex | P | |||
| 18 | Ball and beam | missing | |||
| 19 | balance-pid.tex | P |
Chapter 11 - Frequency Domain Synthesis
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | missing | ||||
| 2 | missing | ||||
| 3 | missing | P | |||
| 4 | missing | ||||
| 5 | Sensitivity of feedback and feedforward | missing | |||
| 6 | Equivalence of controllers with two degrees of freedom | missing | |||
| 7 | Disturbance attenuation | missing | |||
| 8 | Disturbance reduction through feedback | missing | P | ||
| 9 | missing | ||||
| 10 | Attenuation of low-frequency sinusoidal disturbances | missing | P | ||
| 11 | missing | ||||
| 12 | missing | P | |||
| 13 | missing | P | |||
| 14 | Phase margin formulas | missing | |||
| 15 | balance-visual.tex | P | |||
| 16 | Rear-steered bicycle | bicycle-rearsteer.tex | P | ||
| 17 | missing | P | |||
| 18 | Rise-time/bandwidth product | missing | |||
| 19 | missing | P | |||
| 20 | znlimits.tex | ||||
| 21 | Pole in the right half-plane and time delay | missing | P | ||
| 22 | Cancellation of unstable process zero | missing | |||
| 23 | Limitations on achievable phase lag | missing | P | ||
| 24 | missing | ||||
| 25 | Performance characteristics of second-order systems | secord-perf.tex | P | ||
| 26 | secord-rhpz.tex | P | |||
| 27 | Integral of complementary sensitivity | missing | P | ||
| 28 | Bode's integral | missing | P | ||
| 29 | Lead compensator for an insect flight control system | flylead.tex | P | ||
| 30 | Control of a magnetic levitation system | maglev.tex | P | ||
| 31 | missing | P | |||
| 32 | pvtol-gangof4.tex |
Chapter 12 - Robust Performance
| Num | Title | Filename | Stat | Auth | Comments |
| 1 | missing | P | |||
| 2 | missing | P | |||
| 3 | Difference in sensitivity functions | missing | P | ||
| 4 | The Riemann sphere | missing | P | ||
| 5 | Stability margins | missing | |||
| 6 | Bode's ideal loop transfer function | missing | P | ||
| 7 | missing | P | |||
| 8 | Smith predictor | missing | |||
| 9 | Ideal delay compensator | missing | |||
| 10 | Vehicle steering | missing | |||
| 11 | missing | ||||
| 12 | AFM nanopositioning system | missing | |||
| 13 | $H_\infty$ control | missing | |||
| 14 | missing | ||||
| 15 | missing | P | |||
| 16 | Robustness using the Nyquist criterion | missing | P | ||
| 17 | Robustness inequalities | missing | |||
| 18 | missing | ||||
| 19 | missing | ||||
| 20 | Disk drive tracking | missing |
