CDS 101/110 -- Fall 2003
Week 9: Limits of Performance
Overview
This lecture investigates some of the limits of performance for feedback systems, including the effects of right half plane poles and zeros on the closed loop system performance. A magnetic levitation system and lateral control of the Caltech ducted fan are used to illustrate the basic concepts.
Reading Material and Handouts
Handouts from lecture
- Monday lecture handout, Wednesday lecture handout
- MATLAB files: L9_1_maglev.m, L9_2_cruise.m
- Homework #8
Required reading
- K. J. Åström and R. M. Murray, Analysis and Design of Feedback Systems, Preprint, 2003. Chapter 9. (Caltech access only).
- CDS 110: K. J. Åström and R. M. Murray, Analysis and Design of Feedback Systems, Preprint, 2003. Section 8.3. (Caltech access only).
- CDS 110: Packard, Poola and Horowitz, Dynamic Systems and Feedback, Preprint, 2002. Chapter 29. (Caltech access only)
Supplemental reading
- A. D. Lewis, A Mathematical Introduction to Feedback Control. Chapter 9.
- CDS 110: A. D. Lewis, A Mathematical Introduction to Feedback Control. Chapter 12 and Section 13.1.
Homework Set
This homework set explores the performance of feedback control systems with right half plane poles and zeros, based on the examples presented in lecture. The CDS 110 problems explore the design of PID controllers and the use of root locus plots to determine loop gain.