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

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{{cds101-fa07}}
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{{cds101-fa08 lecture|prev=Loop Analysis|next=PID Control}}
  
 
{{righttoc}}
 
{{righttoc}}
 
== Overview ==
 
== Overview ==
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The learning objectives for this week are:
 +
* Students should be to design a simple compensator with given performance and robustness (phase margin) specifications
 +
* Students should be analyze and understand the overall performance of the system using the Gang of Four
 +
* Students should compute the limits on the performance that arise from right half plane poles and zeros
  
'''Monday:'''  Loop Shaping ({{cds101 handouts|L9-1_loopshape_h.pdf|Slides}}, {{cds101 mp3|cds101-2007-11-26.mp3|MP3}})
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'''Monday:'''  Loop Shaping ({{cds101 handouts|L8-1_loopsyn.pdf|Slides}}, {{cds101 mp3|cds101-2008-11-17.mp3|MP3}})
  
 
This lecture describes how to design a control system by converting the performance specifications to constraints on the loop transfer function, and then shaping the loop transfer function to satisfy the constraints.  Sensitivity functinos are defined and tradeoffs between different input/output transfer functions are discussed.
 
This lecture describes how to design a control system by converting the performance specifications to constraints on the loop transfer function, and then shaping the loop transfer function to satisfy the constraints.  Sensitivity functinos are defined and tradeoffs between different input/output transfer functions are discussed.
  
* {{cds101 handouts|L9-1_loopshape_h.pdf|Lecture handout}}
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* {{cds101 handouts|L8-1_loopsyn_h.pdf|Lecture handout}}
* MATLAB handouts: {{cds101 matlab|L9_1_dfan.m}}
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* MATLAB handouts: {{cds101 matlab|L8_1_dfan.m}}
  
'''Wednesday:''' Performance Limits ({{cds101 handouts placeholder|L9-2_limits_h.pdf|Slides}}, {{cds101 mp3 placeholder|cds101-2007-11-28.mp3|MP3}})
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'''Wednesday:''' Performance Limits ({{cds101 handouts|L8-2_limits.pdf|Slides}}, {{cds101 mp3|cds101-2008-11-19.mp3|MP3}})
  
 
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.
 
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.
  
* {{cds101 handouts|L9-2_limits_h.pdf|Lecture handout}}
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* {{cds101 handouts|L8-2_limits_h.pdf|Lecture handout}}
* MATLAB handouts: {{cds101 matlab|L9_2_maglev.m}}
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* MATLAB handouts: {{cds101 matlab|L8_2_maglev.m}}
  
 
'''Friday:''' Recitation sections
 
'''Friday:''' Recitation sections
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== Reading ==
 
== Reading ==
  
* {{AM07|Chapter 11 - Loop Shaping}}
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* {{AM08|Chapter 11 - Loop Shaping}}
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** CDS 101: Read sections 11.1, 11.3-11.4 [45 min]
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** CDS 110: Read sections 11.1, 11.2-11.5 [60 min]
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** CDS 210: Skim AM08 Ch 11.1-11.4, read AM08 11.5, DFT Ch 4 and 6 [90 min]
  
 
== Homework ==
 
== Homework ==
  
This homework set provides practice in specification, design and limits of control systems using loop shaping. The first problem explores the relationship between the loop transfer function and the closed loop response.  The second problem explores some of the effects of right half plane zeros on control performance. The third and fourth problems (CDS 110) are simple design problems for an insect flight control system and a magnetic levitation system.
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* {{cds101 handouts|hw7-fa08.pdf|Homework #7}} (due 24 Nov 08): {{cds101 handouts|hw7-101-fa08.pdf|CDS 101}},  {{cds101 handouts|hw7-110-fa08.pdf|CDS 110}}, {{cds101 handouts|hw7-210-fa08.pdf|CDS 210}}
 
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<!-- Links to homework materials -->
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* {{cds101 handouts placeholder|hw8.pdf|Homework #8}}
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== FAQ ==
 
== FAQ ==
 
'''Monday'''
 
'''Monday'''
<ncl>CDS 101/110 FAQ - Lecture 9-1, Fall 2007</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 8-1, Fall 2008</ncl>
 
'''Wednesday'''
 
'''Wednesday'''
<ncl>CDS 101/110 FAQ - Lecture 9-2, Fall 2007</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 8-2, Fall 2008</ncl>
 
'''Homework'''
 
'''Homework'''
<ncl>CDS 101/110 FAQ - Homework 8, Fall 2007</ncl>
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<ncl>CDS 101/110 FAQ - Homework 7, Fall 2008</ncl>

Latest revision as of 05:59, 9 December 2008

CDS 101/110a Schedule Recitations FAQ ()

Overview

The learning objectives for this week are:

  • Students should be to design a simple compensator with given performance and robustness (phase margin) specifications
  • Students should be analyze and understand the overall performance of the system using the Gang of Four
  • Students should compute the limits on the performance that arise from right half plane poles and zeros

Monday: Loop Shaping (Slides, MP3)

This lecture describes how to design a control system by converting the performance specifications to constraints on the loop transfer function, and then shaping the loop transfer function to satisfy the constraints. Sensitivity functinos are defined and tradeoffs between different input/output transfer functions are discussed.

Wednesday: Performance Limits (Slides, MP3)

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.

Friday: Recitation sections

Reading

  • K. J. Åström and R. M. Murray,, Princeton University Press, 2008..
    • CDS 101: Read sections 11.1, 11.3-11.4 [45 min]
    • CDS 110: Read sections 11.1, 11.2-11.5 [60 min]
    • CDS 210: Skim AM08 Ch 11.1-11.4, read AM08 11.5, DFT Ch 4 and 6 [90 min]

Homework

FAQ

Monday

Wednesday

Homework