Difference between revisions of "CDS 101/110  Loop Shaping"
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== Overview ==  == Overview ==  
−  '''Monday:''' Loop Shaping ({{cds101 handoutsL91_loopshape_h.pdfSlides}}, MP3)  +  '''Monday:''' Loop Shaping ({{cds101 handoutsL91_loopshape_h.pdfSlides}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/20Nov06.mp3 MP3]) 
This lecture describes how to design a control system by converting the performance specifications to constraints on the loop transfer function, and then shaping the loop transfer function to satisfy the constraints. Sensitivity functinos are defined and tradeoffs between different input/output transfer functions are discussed.  This lecture describes how to design a control system by converting the performance specifications to constraints on the loop transfer function, and then shaping the loop transfer function to satisfy the constraints. Sensitivity functinos are defined and tradeoffs between different input/output transfer functions are discussed. 
Revision as of 23:35, 20 November 2006
See current course homepage to find most recent page available. 
CDS 101/110a  Schedule  Recitations  FAQ  AM06 (errata) 
Overview
Monday: Loop Shaping (Slides, MP3)
This lecture describes how to design a control system by converting the performance specifications to constraints on the loop transfer function, and then shaping the loop transfer function to satisfy the constraints. Sensitivity functinos are defined and tradeoffs between different input/output transfer functions are discussed.
Wednesday: Performance Limits (Slides, MP3)
This lecture investigates some of the limits of performance for feedback systems, including the effects of right half plane poles and zeros on the closed loop system performance. A magnetic levitation system and lateral control of the Caltech ducted fan are used to illustrate the basic concepts.
Friday: No class (Thanksgiving holiday)
Handouts
Monday

Wednesday (CDS 110)  Friday

Reading
 K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2006. Chapter 11  Loop Shaping.
Homework
This homework set provides practice in specification, design and limits of control systems using loop shaping. The first problem explores the relationship between the loop transfer function and the closed loop response. The second problem explores some of the effects of right half plane zeros on control performance. The third and fourth problems (CDS 110) are simple design problems for an insect flight control system and a magnetic levitation system.
FAQ
Monday <ncl>CDS 101/110 FAQ  Lecture 91</ncl> Wednesday <ncl>CDS 101/110 FAQ  Lecture 92</ncl> Friday <ncl>CDS 101/110 FAQ  Lecture 93</ncl> Homework <ncl>CDS 101/110 FAQ  Homework 8</ncl>