Week 2: System Modeling
Overview
Monday: 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.
Wednesday: A more complete description of modeling with differential and difference equations.
Friday: This lecture will provide a review of key concepts from linear algebra and differential equations, tuned to the needs of the course.Handouts
Monday (CDS 101/110)
- Monday lecture handout
- MATLAB files: L2_1_modeling.m, springmass.m
- Homework Set #2
Wednesday (CDS 110 only)
Reading
-
K. J. Åström and R. M. Murray, Analysis and Design of Feedback Systems, Preprint, 2004. Chapter 2. (Caltech access only).
Homework
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.
- HW #2
- M. Reiser et al., Vision as a Compensatory Mechanism for Disturbance Rejection in
Upwind Flight, 2003 American Control Conference. - SIMULINK speed control module (for problem #2): hw1cruise.mdl, documentation
Additional Information