Difference between revisions of "CDS 101/110  PID Control"
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== Overview ==  == Overview ==  
'''Monday:''' PID Overview ({{cds101 handoutsL81_pid_h.pdfSlides}}, MP3)  '''Monday:''' PID Overview ({{cds101 handoutsL81_pid_h.pdfSlides}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/13Nov06.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. 
Revision as of 01:50, 14 November 2006
See current course homepage to find most recent page available. 
CDS 101/110a  Schedule  Recitations  FAQ  AM06 (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: PID Design (Notes, MP3)
This lecture provides additional tools for PID control design, including ZieglerNichols turning and root locus plots for choosing the loop gain. An example system is worked out in detail, using MATLAB.
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 10  PID Control.
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.
 Homework #7
 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 81</ncl> Wednesday <ncl>CDS 101/110 FAQ  Lecture 82</ncl> Friday <ncl>CDS 101/110 FAQ  Lecture 83</ncl> Homework <ncl>CDS 101/110 FAQ  Homework 7</ncl>