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ME 132 Summary Intro and motivation of Feedback Control Following a reference (lectures, sec 1, pp1-3, sec 5)

ME 132 Summary Intro and motivation of Feedback Control Following a reference (lectures, sec 1, pp1-3, sec 5) Rejecting a disturbance (lectures, sec 1, pp1-3 , sec 5) Increasing the speed-of-response (lectures, sec 1, pp1-3 , sec 5)

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ME 132 Summary Intro and motivation of Feedback Control Following a reference (lectures, sec 1, pp1-3, sec 5)

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  1. ME 132 Summary • Intro and motivation of Feedback Control • Following a reference (lectures, sec 1, pp1-3, sec 5) • Rejecting a disturbance (lectures, sec 1, pp1-3 , sec 5) • Increasing the speed-of-response (lectures, sec 1, pp1-3 , sec 5) • Doing all of the above robustly to process variations (lectures, sec 1, pp1-3 , sec 5) • Effect of sensor noise on process (lectures, sec 1, pp1-3 , sec 5) • Block diagrams (sec 2, pg 9) and Simulink (sec 3 and lecture) • P and PI controller for simplified cruise-control (sec 5, sec 8) & simplified stick-balancing (sec 2, page 10-12)

  2. ME 132 Summary • Systems governed by ODEs (1st order and higher), PPT file • Input/output (sec 6, sec 7) • Definition of stability (sec 7, pg 59) • Theorems of stability, location of roots, 1st, 2nd, 3rd, 4th order tests (sec 7, pg 62-64) • Characterizing homogeneous solutions (sec 7.3) • Step responses and sinusoidal steady-state responses (sec 7.5, sec 11, complex number identities) • Effect of right-hand-side of ODE on the response to inputs (sec 9 and 10)

  3. ME 132 Summary • Transfer function representation of systems governed by ODEs (sec12) • Algebraic manipulations (derived by considering LDOs as fundamental) • Characterizing stability, steady-state gain, frequency-response, etc., in terms of the transfer function (lectures, Sec 13) • Matlab @tf class (HW in Sec 12) • Basic properties of and (lectures, HW in sec 11 and 12)

  4. ME 132 Summary • Robustness Margins of Feedback Systems • Gain margin • Time delay margin • Percentage-variation margin (“small-gain” theorem), (lectures) • Phase Margin (lectures) • Deriving Leffective for general problem (handout, HW 6 in Section 14) • Controlling the position of an inertia using PI control with velocity feedback (PID control) (sec 23) • Saturation and Anti-Windup Logic in controllers with Integral action (sec 15, HW #7 in sec 18)

  5. ME 132 Summary • Systems governed by state-space models • General form of state-equations (sec 3, sec 17, first 2 pages of sec 19) • Rules for picking state variables in a few classes of systems (sec 16 and 17) • Transfer function and Stability of a linear system of the form • Linearizing a nonlinear system about an equilibrium point (sec 18) • Equilibrium points • Deriving the linearization • Regulating a system near an equilibrium point with a feedback controller (hw #7 and #8 in sec 18)

  6. ME 132 Summary • Intro and motivation of Feedback Control • Following a reference (lectures, sec 1, pp1-3, sec 5) • Rejecting a disturbance (lectures, sec 1, pp1-3 , sec 5) • Increasing the speed-of-response (lectures, sec 1, pp1-3 , sec 5) • Doing all of the above robustly to process variations (lectures, sec 1, pp1-3 , sec 5) • Effect of sensor noise on process (lectures, sec 1, pp1-3 , sec 5) • Block diagrams(sec 2, pg 9) and Simulink (sec 3 and lecture) • P and PI controller for simplified cruise-control (sec 5, sec 8) & simplified stick-balancing (sec 2, page 10-12) • Systems governed by ODEs (1st order and higher), PPT file • Input/output (sec 6, sec 7) • Definition of stability (sec 7, pg 59) • Theorems of stability, location of roots, 1st, 2nd, 3rd, 4th order tests (sec 7, pg 62-64) • Characterizing homogeneous solutions (sec 7.3) • Step responses and sinusoidal steady-state responses (sec 7.5, sec 11, complex number identities) • Effect of right-hand-side of ODE on the response to inputs (sec 9 and 10) • Transfer function representation of systems governed by ODEs (sec12) • Algebraic manipulations (derived by considering LDOs as fundamental) • Characterizing stability, steady-state gain, frequency-response, etc., in terms of the transfer function (lectures, Sec 13) • Matlab @tf class (HW in Sec 12) • Basic properties of and (lectures, HW in section 12) • Robustness Margins of Feedback Systems • Gain margin • Time delay margin • Percentage-variation margin (“small-gain” theorem), (lectures) • Phase Margin (lectures) • Deriving Leffective for general problem (handout, HW 6 in Section 14) • Controlling the position of an inertia using PI control with velocity feedback (PID control) (sec 23) • Saturation and Anti-Windup Logic in controllers with Integral action (sec 15, HW #7 in sec 18) • Systems governed by state-space models • General form of state-equations (sec 3, sec 17, first 2 pages of sec 19) • Rules for picking state variables in a few classes of systems (sec 16 and 17) • Transfer function and Stability of a linear system of the form • Linearizing a nonlinear system about an equilibrium point (sec 18) • Equilibrium points • Deriving the linearization • Regulating a system near an equilibrium point with a feedback controller (hw #7 and #8 in sec 18)

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