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