CDS 101/110 - System Modeling: Difference between revisions
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This lecture provides an overview of modeling for control systems. We discuss what a model is and what types of questions it can be used to answer. The concepts of state, dynamics, inputs and outputs are described, including running examples to demonstrate the concepts. Several different modeling techniques are summarized, with emphasis on differential equations. Two examples are included to demonstrate the main concepts. | This lecture provides an overview of modeling for control systems. We discuss what a model is and what types of questions it can be used to answer. The concepts of state, dynamics, inputs and outputs are described, including running examples to demonstrate the concepts. Several different modeling techniques are summarized, with emphasis on differential equations. Two examples are included to demonstrate the main concepts. | ||
* [ | * {{cds101 handouts|L2-1_modeling_h.pdf|Lecture handout}} | ||
* MATLAB files: {{cds101 matlab|L2_1_modeling.m}}, {{cds101 matlab|springmass.m}} | |||
* [http://www.cds.caltech.edu/~murray/courses/cds101/fa07/mp3/cds101-demo.mp4 cds101-demo.mp4] spring-mass system frequency response demonstration video from lecture | |||
'''Wednesday:''' Modeling using Ordinary Differential Equation ({{cds101 handouts | '''Wednesday:''' Modeling using Ordinary Differential Equation ({{cds101 handouts|L2-2_odes.pdf|Slides}}, {{cds101 mp3|cds101-2007-10-10.mp3|MP3}}) | ||
This lecture provides a more detailed introduction to the use of ordinary differential equations (ODEs) for modeling dynamical systems. A brief review of the solutions of second order linear ODEs is provided to make connection with prior coursework. The general form of nonlinear and linear ODEs is provided, along with an overview of some of the techniques for solving linear ODEs in special forms (scalar and diagonal systems). Analysis tools, including stability and frequency response, are illustrated. Finally, the use of block diagrams in control systems is introduced, including the standard symbology used in the text and an extended example (insect flight). | This lecture provides a more detailed introduction to the use of ordinary differential equations (ODEs) for modeling dynamical systems. A brief review of the solutions of second order linear ODEs is provided to make connection with prior coursework. The general form of nonlinear and linear ODEs is provided, along with an overview of some of the techniques for solving linear ODEs in special forms (scalar and diagonal systems). Analysis tools, including stability and frequency response, are illustrated. Finally, the use of block diagrams in control systems is introduced, including the standard symbology used in the text and an extended example (insect flight). | ||
* {{cds101 handouts|L2-2_odes_h.pdf|Lecture handout}} | |||
'''Friday:''' {{cds101 lecture|SIMULINK Tutorial}} - George Hines | '''Friday:''' {{cds101 lecture|SIMULINK Tutorial}} - George Hines | ||
This tutorial will provide an overview of the SIMULINK modeling tool. | This tutorial will provide an overview of the SIMULINK modeling tool. | ||
== Reading == | == Reading == | ||
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== Homework == | == Homework == | ||
This homework set demonstrates the construction and use of models for control systems. The first problem asks the student to identify the states, inputs, outputs, and dynamics for a sample systems. The second problem consists of a detailed construction of a vehicle model that can be used for cruise control. The last problem (CDS 110 only) | * {{cds101 handouts|hw2.pdf|HW #2}} | ||
This homework set demonstrates the construction and use of models for control systems. The first problem asks the student to identify the states, inputs, outputs, and dynamics for a sample systems. The second problem consists of a detailed construction of a vehicle model that can be used for cruise control. The last problem (CDS 110 only) explores discrete time modeling techniques. | |||
<!-- Links to homework materials --> | <!-- Links to homework materials --> | ||
Latest revision as of 05:18, 15 September 2008
See current course homepage to find most recent page available. |
| CDS 101/110a | Schedule | Recitations | FAQ | AM08 (errata) |
Overview
Monday: Introduction to Modeling (Slides, MP3 )
This lecture provides an overview of modeling for control systems. We discuss what a model is and what types of questions it can be used to answer. The concepts of state, dynamics, inputs and outputs are described, including running examples to demonstrate the concepts. Several different modeling techniques are summarized, with emphasis on differential equations. Two examples are included to demonstrate the main concepts.
- Lecture handout
- MATLAB files: L2_1_modeling.m, springmass.m
- cds101-demo.mp4 spring-mass system frequency response demonstration video from lecture
Wednesday: Modeling using Ordinary Differential Equation (Slides, MP3)
This lecture provides a more detailed introduction to the use of ordinary differential equations (ODEs) for modeling dynamical systems. A brief review of the solutions of second order linear ODEs is provided to make connection with prior coursework. The general form of nonlinear and linear ODEs is provided, along with an overview of some of the techniques for solving linear ODEs in special forms (scalar and diagonal systems). Analysis tools, including stability and frequency response, are illustrated. Finally, the use of block diagrams in control systems is introduced, including the standard symbology used in the text and an extended example (insect flight).
Friday: SIMULINK Tutorial - George Hines
This tutorial will provide an overview of the SIMULINK modeling tool.
Reading
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2007. Chapter 2 - System Modeling.
Homework
This homework set demonstrates the construction and use of models for control systems. The first problem asks the student to identify the states, inputs, outputs, and dynamics for a sample systems. The second problem consists of a detailed construction of a vehicle model that can be used for cruise control. The last problem (CDS 110 only) explores discrete time modeling techniques.
FAQ
Monday <ncl>CDS 101/110 FAQ - Lecture 2-1, Fall 2007</ncl> Wednesday <ncl>CDS 101/110 FAQ - Lecture 2-2, Fall 2007</ncl> Friday <ncl>CDS 101/110 FAQ - Lecture 2-3, Fall 2007</ncl> Homework <ncl>CDS 101/110 FAQ - Homework 2, Fall 2007</ncl>
