Difference between revisions of "CDS 101/110 - Loop Analysis"

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(Overview)
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{{righttoc}}
 
{{righttoc}}
 
== Overview ==
 
== Overview ==
  
'''Monday:'''  Stability of Feedback Systems ({{cds101 handouts|L7-1_loopanal_h.pdf|Slides}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/6Nov06.mp3 MP3] - missing last 15 mins)
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'''Monday:'''  Stability of Feedback Systems ({{cds101 handouts placeholder|L7-1_loopanal_h.pdf|Slides}}, [{{cds101 mp3 placeholder|cds101-2007-11-12.mp3|MP3}})
  
 
This lecture describes how to analyze the stability and performance of a feedback system by looking at the open loop transfer function. We introduce the Nyquist criteria for stability and talk about the gain and phase margin as measures of robustness. The cruise control system is used as an example throughout the lecture.
 
This lecture describes how to analyze the stability and performance of a feedback system by looking at the open loop transfer function. We introduce the Nyquist criteria for stability and talk about the gain and phase margin as measures of robustness. The cruise control system is used as an example throughout the lecture.
  
'''Wednesday:''' Nyquist Analysis ({{cds101 handouts|L7-2_nyquist.pdf|Notes}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/8Nov06.mp3 MP3])
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* {{cds101 handouts|L7-1_loopanal_h.pdf|Lecture handout}}
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* MATLAB handouts: {{cds101 matlab|L7_1_loopanal.m}}
  
In this lecture we will derive the Nyquist criterion using the principle of the argument and show how to apply it to determine stability of a closed loop system. We will also see how to account for right half plane poles in the open loop transfer function.  Finally, we will give a brief introduction to time delay and its effects on stability.
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'''Wednesday:''' Nyquist Analysis ({{cds101 handouts placeholder|L7-2_nyquist.pdf|Notes}}, {{cds101 mp3 placeholder|cds101-2007-11-14.mp3|MP3}})
  
'''Friday:''' Stability Margins and Loop Design (Notes, MP3)
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In this lecture we will use the concepts of stability and robustness margins to perform simple control systems design in the frequency domain.  We will give a brief introduction to time delay and its effects on stability.
  
In this lecture we will use the concepts of stability and robustness margins to perform simple control systems design in the frequency domain.
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* {{cds101 handouts placeholder|L7-2_nyquist.pdf|Lecture notes}}
  
== Handouts ==
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'''Friday:''' recitations
 
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{| width=100%
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|- valign=top
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| width=33% | Monday
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* {{cds101 handouts|L7-1_loopanal_h.pdf|Lecture handout}}
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* MATLAB handouts: {{cds101 matlab|L7_1_loopanal.m}}
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* {{cds101 handouts|hw6.pdf|Homework #6}}
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| width=33% | Wednesday (CDS 110)
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* {{cds101 handouts|L7-2_nyquist.pdf|Lecture notes}}
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| width=33% | Friday
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* Lecture notes <!-- {{cds101 handouts|L7-3_margins.pdf|Lecture notes}} -->
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|}
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== Reading ==
 
== Reading ==
  
* {{AM06|Chapter 9 - Loop Analysis}}
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* {{AM07|Chapter 9 - Loop Analysis}}
  
 
== Homework ==
 
== Homework ==
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== FAQ ==
 
== FAQ ==
 
'''Monday'''
 
'''Monday'''
<ncl>CDS 101/110 FAQ - Lecture 7-1</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 7-1, Fall 2007</ncl>
 
'''Wednesday'''
 
'''Wednesday'''
<ncl>CDS 101/110 FAQ - Lecture 7-2</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 7-2, Fall 2007</ncl>
 
'''Friday'''
 
'''Friday'''
<ncl>CDS 101/110 FAQ - Lecture 7-3</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 7-3, Fall 2007</ncl>
 
'''Homework'''
 
'''Homework'''
<ncl>CDS 101/110 FAQ - Homework 6</ncl>
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<ncl>CDS 101/110 FAQ - Homework 6, Fall 2007</ncl>

Revision as of 04:19, 8 November 2007

WARNING: This page is for a previous year.
See current course homepage to find most recent page available.
CDS 101/110a Schedule Recitations FAQ ()

Overview

Monday: Stability of Feedback Systems (Slides, [MP3)

This lecture describes how to analyze the stability and performance of a feedback system by looking at the open loop transfer function. We introduce the Nyquist criteria for stability and talk about the gain and phase margin as measures of robustness. The cruise control system is used as an example throughout the lecture.

Wednesday: Nyquist Analysis (Notes, MP3)

In this lecture we will use the concepts of stability and robustness margins to perform simple control systems design in the frequency domain. We will give a brief introduction to time delay and its effects on stability.

  • Lecture notes

Friday: recitations

Reading

  • K. J. Åström and R. M. Murray,, Preprint, 2007..

Homework

This homework set covers stability and robustness using the Nyquist criterion. The first problem consists of two sample systems for which gain and phase margin should be computed using both Nyquist and Bode plots. The second problem investigates the stability and performance of the cruise control system under different PI controllers. The CDS 110 questions explore stability in the presence of delay and the stability and control of a simple disk drive positioning system.

  • Homework #6
  • Useful MATLAB commands
    • tf - generate a transfer function from numerator/denominator coefficients
    • nyquist - generate a Nyquist plot for an open loop system L(s)
    • margin - generate a bode plot with gain and phase margin

FAQ

Monday

Wednesday

Friday

Homework