Difference between revisions of "CDS 101/110 - PID Control"

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{{cds101-fa06}}
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{{cds101-fa07}}
  
 
{{righttoc}}
 
{{righttoc}}
 
== Overview ==
 
== Overview ==
  
'''Monday:'''  PID Overview ({{cds101 handouts|L8-1_pid_h.pdf|Slides}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/13Nov06.mp3 MP3])
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'''Monday:'''  PID Overview ({{cds101 handouts placeholder|L8-1_pid.pdf|Slides}}, {{cds101 mp3 placeholder|cds101-2007-11-19.mp3|MP3}})
  
 
This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications.
 
This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications.
  
'''Wednesday:''' PID Analysis ({{cds101 handouts|L8-2_pid2ss.pdf|Notes}}, MP3)
+
* {{cds101 handouts placeholder|L8-1_pid_h.pdf|Lecture handout}}
 +
* MATLAB handouts: {{cds101 matlab|L8_1_pid.m}}
 +
 
 +
'''Wednesday:''' PID Analysis ({{cds101 handouts|L8-2_pid2ss.pdf|Notes}}, }, {{cds101 mp3 placeholder|cds101-2007-11-21.mp3|MP3}})
  
 
This lecture provides more details on the use of PID control, including the representation of PID controllers in state space.  The problems of windup and saturation are also discussed.
 
This lecture provides more details on the use of PID control, including the representation of PID controllers in state space.  The problems of windup and saturation are also discussed.
  
'''Friday:''' PID Design (Notes, MP3)
+
* {{cds101 handouts|L8-2_pid2ss.pdf|Lecture notes}}
 
 
This lecture provides additional tools for PID control design, including Ziegler-Nichols turning and root locus plots for choosing the loop gain. An example system is worked out in detail, using MATLAB.
 
  
== Handouts ==
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'''Friday:''' no class (Thanksgiving break)
 
 
{| width=100%
 
|- valign=top
 
| width=33% | Monday
 
* {{cds101 handouts|L8-1_pid_h.pdf|Lecture handout}}
 
* MATLAB handouts: {{cds101 matlab|L8_1_pid.m}}
 
* {{cds101 handouts|hw7.pdf|Homework #7}}
 
| width=33% | Wednesday (CDS 110)
 
* {{cds101 handouts|L8-2_pid2ss.pdf|Lecture notes}}
 
| width=33% | Friday
 
* {{cds101 handouts|L8-3_pidtools_h.pdf|Lecture handout}}
 
* MATLAB handouts: {{cds101 matlab|L8_3_pidtools.m}}
 
|}
 
  
 
== Reading ==
 
== Reading ==
  
* {{AM06|Chapter 10 - PID Control}}
+
* {{AM07|Chapter 10 - PID Control}}
  
 
== Homework ==
 
== Homework ==
 +
 +
* {{cds101 handouts|hw7.pdf|Homework #7}}
  
 
This homework set provides practice in specification and design of control systems in the frequency domain using PID control. The first two problems work through examples similar to the ones used in lecture. The third problem, for CDS 110 students, explores the use of PID control to give a desired level of performance for a simplified balance system.
 
This homework set provides practice in specification and design of control systems in the frequency domain using PID control. The first two problems work through examples similar to the ones used in lecture. The third problem, for CDS 110 students, explores the use of PID control to give a desired level of performance for a simplified balance system.
  
 
<!-- Links to homework materials -->
 
<!-- Links to homework materials -->
* {{cds101 handouts|hw7.pdf|Homework #7}}
 
 
* Useful MATLAB commands
 
* Useful MATLAB commands
 
** sisotool - display standard linear system plots on a single screen
 
** sisotool - display standard linear system plots on a single screen
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== FAQ ==
 
== FAQ ==
 
'''Monday'''
 
'''Monday'''
<ncl>CDS 101/110 FAQ - Lecture 8-1</ncl>
+
<ncl>CDS 101/110 FAQ - Lecture 8-1, Fall 2007</ncl>
 
'''Wednesday'''
 
'''Wednesday'''
<ncl>CDS 101/110 FAQ - Lecture 8-2</ncl>
+
<ncl>CDS 101/110 FAQ - Lecture 8-2, Fall 2007</ncl>
'''Friday'''
 
<ncl>CDS 101/110 FAQ - Lecture 8-3</ncl>
 
 
'''Homework'''
 
'''Homework'''
<ncl>CDS 101/110 FAQ - Homework 7</ncl>
+
<ncl>CDS 101/110 FAQ - Homework 7, Fall 2007</ncl>

Revision as of 19:44, 18 November 2007

WARNING: This page is for a previous year.
See current course homepage to find most recent page available.
CDS 101/110a Schedule Recitations FAQ AM08 (errata)

Overview

Monday: PID Overview (Slides, MP3)

This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications.

Wednesday: PID Analysis (Notes, }, MP3)

This lecture provides more details on the use of PID control, including the representation of PID controllers in state space. The problems of windup and saturation are also discussed.

Friday: no class (Thanksgiving break)

Reading

Homework

This homework set provides practice in specification and design of control systems in the frequency domain using PID control. The first two problems work through examples similar to the ones used in lecture. The third problem, for CDS 110 students, explores the use of PID control to give a desired level of performance for a simplified balance system.

  • Useful MATLAB commands
    • sisotool - display standard linear system plots on a single screen
    • feedback - generate a closed loop system from a loop transfer function

FAQ

Monday <ncl>CDS 101/110 FAQ - Lecture 8-1, Fall 2007</ncl> Wednesday <ncl>CDS 101/110 FAQ - Lecture 8-2, Fall 2007</ncl> Homework <ncl>CDS 101/110 FAQ - Homework 7, Fall 2007</ncl>