Week 2: System Modeling
Overview
This lecture provides an overview of modeling for control systems. We discuss what a model is and what types of questions it can be used to answer. The concepts of state, dynamics, inputs and outputs are described, including running examples to demonstrate the concepts. Several different modeling techniques are summarized, with emphasis on differential equations. Two examples are included to demonstrate the main concepts.
Reading Material and Handouts
Handouts from lecture
- Monday lecture handout
- MATLAB files: L2_1_modeling.m, springmass.m
- Homework #2
Required reading
-
K. J. Åström and R. M. Murray, Analysis and Design of Feedback Systems, Preprint, 2003. Chapter 2. (Caltech access only).
- M. Reiser et al., Vision
as a Compensatory Mechanism for Disturbance Rejection in
Upwind Flight, 2003 American Control Conference (submitted).
Supplemental reading
-
A. D. Lewis, A Mathematical Approach to Classical Control, 2003. Chapter 1. Online access.
-
K. J. Åström, Control Systems Design, Preprint, 2002. Sections 3.1-3.3, 3.6. (Caltech access only)
Homework Set #2
This homework set demonstrates the construction and use of models for control systems. The first problem asks the student to identify the states, inputs, outputs, and dynamics for a sample systems. The second problem consists of a detailed construction of a vehicle model that can be used for cruise control. The last two problems (CDS 110 only) explore different modeling techniques, including both discrete time, analytical, and MATLAB-based analysis of dynamical systems.
- Homework Assignment
- SIMULINK cruise control module (for problem #2): hw1cruise.mdl, documentation