Lecture notes
Lecture notes in PDF
-
Lecture 1 introduction Lecture 1
-
Lecture 2 modeling Lecture 2
Simulink model and init script for simulation of the non linear spring. Non linear spring model
Maple skript for model calculation of a 2 mass model. MBS second order
-
Lecture 3, Feedback control -continuous time design - Lecture 3
Maple script for pole placement design PD_pos For some unknown reason changes the file uppload function the files extension from PD_pos.mw to PD_pos.xml. However, just save the file to disk and rename it to .mw then you can open it in Maple.
-
Lecture 4, Feedback control -discrete time design lecture 4
Download reading material, Computer Control an overview, by Åström, Wittemark and Årzen. IFAC_Control
Important chapters are:
Chapter 9, Pole placement design -> corresponds to Lecture 4
Chapter 6, Approximation of Continuous time controller -> corresponds to Lecture 3
Chapter 11, Practical issues -> corresponds to Lecture 6
Parts of the following chapters are also good to read:
Chapter 2 Sampling and reconstruction
Chapter 3 Mathematical models
Chapter 5 Control design and specifications
- Lecture 5, Model following servo control L5
- Lecture 6, Controller implementation Lecture 6
- Lecture 7, Robusteness to modelling errors and sensor noise, L7