Questions tagged [control-theory]
The control-theory tag has no usage guidance.
0
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1answer
14 views
How to find Performance assessment (IAE and ISE) of a PID Controlled system?
The Integral Absolute value Error (IAE) and the Integral Squared Error (ISE) is to be analysed.
A PID Controller is given as follows:
...
0
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0answers
19 views
PI controller for second order system
I have a second order system and I need to control it using a PI controller. I need to select the parameters of the controller in order for the system to satisfy a less than 10% overshoot requirement ...
1
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1answer
41 views
Stabilization of telescope on gimbal using data from encoders and gyroscope
I'm designing a control system for a balloon-borne telescope experiment. As the balloon is constantly moving and the gondola is rotating, I want to stabilize the telescope which can be controlled in 3 ...
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0answers
47 views
Condition for deadbeat
Question:
Given a discrete system characteristic equation
q(z)= Z^2 + (K1 - 2)Z + K2
For the system to exhibit deadbeat response:
K1=
a)3
b)2
c)1
d)0
e)all
f)none
K2=
a)3
b)2
c)1
d)0
e)all
f)...
1
vote
1answer
58 views
Do variables dimensions matter in PID simulation + I want the PID output to be volts?
I have a self balancing robot control loop that uses the PID controller. I feed the robot's angle (rad) to sum block that generates the error between the set point and the angle.
The error then goes ...
0
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0answers
18 views
Observable Canonical Form - Modern Control
I have derived controllable canonical form (very easily), but I have trouble deriving observable canonical form (supposed to be easy.. at least every textbook is implying so).
The picture underneath ...
1
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1answer
24 views
How to use lsim in matlab for a closed loop system
I have designed a system using a minimum realization.
I have the A, B, C matrices and I have assigned closed loop poles for the system.
I used the place command to find my K matrix.
I am wondering ...
1
vote
1answer
38 views
In a control block diagram what does a block with an angled arrow through it mean?
I have been looking at papers describing how to do non linear control with neural networks. A lot of these papers have block diagrams with a symbol I don't understand. There is a block with an angled ...
0
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1answer
28 views
How to tune PID for a step response
I am very much confused finding the time constant and DC gain for the below step response. The idea is to find PI gains for speed control and I am following this tutorial online Tutorial Link
Motor ...
0
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1answer
19 views
Significance of asymptotes in root locus
What is the significance of asymptotes in the root locus of a linear time invariant system. Does it say that for that particular pole on which it is starting doesn't have a practical pole in the ...
0
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1answer
19 views
Criterion to neglect poles of higher order
If I am having a fifth order system, it is said that the dominant two poles nearer to the jw axis determine the nature of the output, is there any criterion to neglect the other three poles , should ...
0
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0answers
22 views
Why we analyse so much about the underdamped if critically is fastest pls explain
If critically damped system is the fastest and with a smooth curve ...why we analyse so much about the underdamped system.... Please explain if possible quote an example
0
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2answers
26 views
Why does a lead-compensator type system decrease to a step response
For example, the step response of $\frac{s+1}{s+2}$ is decreasing although its gain is +1, and this system has higher gain at high frequencies than low frequencies based on its Bode plot. But if I ...
0
votes
1answer
24 views
How can I tune the parameters of a lqr controller?
From my internet research, it seems there's no systematic way of tuning the design parameters for the LQR controller. I have found Bryson’s rule as an initialization. However I don't know how to ...
0
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0answers
40 views
Control law for nadir pointing spacecraft
Hoping someone here can give me some advice. I've been trying to build an orbit and attitude propagator inside MatLAB and have run into some issues with the attitude propagation due to my lack of ...
0
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0answers
18 views
Peak altitude control for rocket
I am trying to design a way for a model rocket to have an apogee of exactly 120 ft (or as close as possible). I am using a design similar to the split rudder of the space shuttle on the fins of the ...
0
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1answer
51 views
Discrete PID controller
I need the equation of a discrete PID controller and I find different answers from different websites. For example, here the answer is:
$$u[k] = u[k-1] + (K_p + K_i \frac{T_s}{2} + \frac{K_d}{T_s}) e[...
1
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0answers
30 views
Does the characteristic polynomial contains all the poles of a closed-loop transfer function?
The Transfer Function of a Closed-Loop system is: $T(s)=\frac{Z(s)}{1+G(s)Z(s)}$.
The BIBO stability of $T(s)$ is guaranteed if all the poles of $T(s)$ have negative real value.
In many textbooks I'...
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0answers
20 views
Engine Control Unit theory regarding highest priority task?
I am changing career paths and will be working on ECUs/VCUs and associated downstream electronic control modules. I am interested to find a research starting point in terms of Real-Time-Operating-...
0
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0answers
32 views
Defining transfer functions in MATLAB properly
So for a robust control problem I had to use a weighting function of the form:
$$ W_P=\frac{0.5s+0.05}{s} $$
And I do so by
...
0
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0answers
36 views
Can one move the zeros of a transfer function?
This may be a very simple question and I think I know the answer but I would like it to be confirmed by somebody else.
My questions regard the zeros of a systems (the roots of the numerator of a ...
0
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0answers
50 views
Design of a lead compensator with root locus in matlab
For the transfer function G(s), I tried to design a lead compensator for the function to have a response to the step with the following specifications: Overshoot= 10%; Ts (2%) = 5s.
When I simulate ...
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0answers
54 views
how to calculate the angle in Nyquist plot
Does anyone know how i can read the angle on the Nyquist plot
without knowing the open loop transfer function?
So by only having the plot.
1
vote
1answer
42 views
How to find BIBO stability fast?
I know that for a system to be BIBO stable the eigenvalues need to be stable so real(lambda)<0
so get that is only valid for 4
but how can i find out the other systems which are BIBO stable?
0
votes
1answer
27 views
2-Vehicles platoon stability
Given a system describing a 2-vehicles platoons that can be described as such :
$v_k$ the speed of each vehicle
$s$ the gap between the vehicles.
We can describe the state of the system as :
$\dot{...
0
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1answer
31 views
When is it necessary to consider digial control rather than directly coding in the gain matrix?
I designed a LQR controller and want to implement it on a microcontroller. I don't know about digital control and don't know when to apply it.
After a brief research, I found out that I need to apply ...
0
votes
1answer
28 views
How can I calculate the maximum possible deviation from equilibrium, that can still be compensated, given a limitation on the control input?
For example we have an inverted pendulum attached to a cart, with the cart having a speed limitation. Having derived the linearized model, how can I calculate the maximum possible deviation on the ...
1
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0answers
40 views
Is there a maximum phase margin a PID controller can give?
I'm having trouble understanding the plot attached. The bode plot here shows the bode plot of a plant to be controlled with PID. So, if I want a phase margin of 30 degrees at the bandwidth frequency, ...
0
votes
1answer
64 views
Control system for a temperature controller
I have adapted a refrigerator to create a temperature controlled environment for brewing beer. I have mounted an electric heater coil inside the fridge and configured a basic controller to maintain a ...
2
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0answers
44 views
How can I find left and right directions associated with each zero for a MIMO transfer function?
How can I find left and right directions associated with each zero for a MIMO transfer function?
Intia
First it can be expressed in Smith-McMillan form and can find poles and zeros. Then how to find ...
1
vote
1answer
54 views
Control: control action of a PID controller with feedback
I'm programming the controller for a drone and I've got a question that may be basic, but I need to understand this perfectly to continue with the most interesting part of the project.
The sensors of ...
1
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0answers
33 views
What is the principle behind controlling thermoacoustic combustion instability with a speaker?
From "ThermoAcoustics and the Rijke Tube: Experiments, Identification, and Modeling", thermoacoustic instability can be subsided using an amplifier and a speaker.
It says in page 4,
The microphone ...
2
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0answers
79 views
3 DOF SISO state space control
As part of a control systems course I have to implement control for a 3 DOF SISO mass spring damper model of a robotic cutter arm. The arm is to follow a 5Hz triangle wave reference which is ...
0
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2answers
61 views
Books for learning PID control? [closed]
I am aiming to program a quadcopter flight controller as a personal project.
To be able to do this I understand one of the fundamentals is a PID control system . So my question is does anyone have ...
0
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1answer
40 views
Zeros of a Trransfer Function
I would be grateful if someone could explain me what does the value of zeros of a transfer function tell about the dynamics of the system.
0
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1answer
69 views
Control systems, Nyquist plot and root locus
I need help in understanding the connection between Nyquist plot and root locus plot.
Let's say I have a Nyquist plot, what can I infer about the root locus plot? and vise versa.
Given the root ...
1
vote
1answer
73 views
Control of second order undamped system
I have the following differential equation:
$$\ddot{\psi_t} + \omega^2 \psi_t = \omega R_s i_f - \omega u_f + \dot{u}_t - R_s \dot{i}_t$$
where $w$ is the electrical speed of the motor.
I have ...
3
votes
1answer
108 views
what's wrong with this robust control scheme?
I'm learning how to control a double integrator with $H_\infty$.
my model is simply
$$\begin{gather}
\dot{r} = v \\
\dot{v} = F/m \\
r(t_0) = 0\text{ m}, $v(t_0) = 0\text{ m/s}, m = 1000\text{ kg}
\...
2
votes
1answer
82 views
Cruise Control Project on Toy Car
I finished taking my control theory course, and I want to build an RC car that has cruise control. So I started off with the force analysis, and I got external forces that are constant. For example if ...
1
vote
1answer
40 views
Using place command in MATLAB using different state representation
I had a transfer function
$$\frac{10s+20}{s^3+10s^2+24s}$$
and I found the state space representation of the above using MATLAB.
Using $place(A,B,[poles])$, I found a gain matrix K that corresponds ...
1
vote
1answer
131 views
How to control a multi input single output heating system?
I am trying to optimize the heat control of a test bench at our facility. The test bench is basically a pipe with an air flow that can be heated up to desired temperature. To heat the air flow up ...
0
votes
1answer
47 views
Transfer function with cancellable zero pole and controllability
I have a transfer function (From Ogata's Modern Control Engineering)
$$\frac{s+2.5}{(s+2.5)(s-1)}$$
and the theory says the system has a pole zero cancellation and is uncontrollable.
They said that ...
0
votes
2answers
117 views
LQR control and system dynamics linearization
I recently finished a project that simulated the dynamics and control of a 6DOF quadcopter model using a state-space LQR control approach, but I had a few questions that I wanted to ask that might ...
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0answers
25 views
2
votes
1answer
48 views
Does the controllability of nominal system imply the controllability of the actual uncertain system?
Given a system dynamics
\begin{equation}
\dot{x}=A(p)x+Bu,
\end{equation}
where $A(p)$ is the uncertain system state matrix with the nominal matrix being $A(p_0)$. The uncertainty in $A(p)$ ...
1
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0answers
31 views
Extended Kalman Filter formulation
For a nonlinear system,
$$
\begin{align}
&{\boldsymbol x}(k+1)={\boldsymbol f}({\boldsymbol x}(k),{\boldsymbol u}(k),{\boldsymbol w}(k)) \\
&{\boldsymbol y}(k)={\boldsymbol h}({\boldsymbol x}(...
2
votes
2answers
54 views
Requirements for realtime control
What are the requirements to call a controller real-time?
What are the entire standards for that?
I do not think that just rendering the output quickly before the sampling interval passes is ...
1
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1answer
35 views
Maximum MPC prediction horizon for an unstable plant
In the following book,
Model Predictive Control ToolboxTM (User's Guide)
Alberto Bemporad
Manfred Morari
N. Lawrence Ricker
At page 1-6, it has been ...
1
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1answer
29 views
impulse input and discontinuity in initial condition after
Consider a dynamical system as bellow that is subjected to an impulse input:
$\sum_{n=0}^N {a_n x^{(n)}}= f_0 \delta(t-t_0)$
the initial values are non-resting (all non-zero):
$x(t_0^-)=x_0\hspace{...
1
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1answer
34 views
Model Predictive Control and Numerical Integration Schemes
When simulating systems of ODEs, I'm used to always using a numerical integration scheme to propagate the equations forward in time, such as simple Euler integration or Runge-Kutta methods. However, ...
