Advanced Automation†
2010.9.9 CACSD introduction†
- introduction of Matlab and Simulink
2010.9.16 CACSD introduction†
- review of clasical control theory
- transfer function
- Bode diagram
- characteristics of 2nd-order system
- Nyquist stability criterion
- gain margin and phase margin
- review of modern control theory
- state-space representation
2010.9.30 Intro. to Robust Control†
- H infinity norm
- robust stabilization
- performance improvement
s = tf('s')
G = 1/(s+1)
norm(G, 'inf')
P = 1/(s^2 + 0.2*s + 1)
K = 1
nyquist(P*K)
help impulse
impulse(P)
T = 1/(1 + P*K)
impulse(T)
sqrt(2)/(2*pi)
1/ans
step(T)
ex21
ex22
2010.10.7 Introduction to Robust Control (cont.)†
- H infinity norm
- robust stabilization <--
- performance improvement
2010.10.14 norm, vector space, normed linear space†
- H infinity norm ... {robust stabilization, performance improvement}
- norm
- size of {number, signal, system}
- defined on vector space (linear space)
- ---> normed linear space
- ... optimization
2010.10.21 eigenvalue, eigenvector, singular value decomposition†
- H infinity norm : scalar (SISO) ---> matrix (MIMO)
- absolute value ---> maximum singular value
- background: mixed sensitivity problem {robust stabilization and performance improvement are simultaneously considered}
========== Caution!!! The followings are under construction ==========
2010.10.14 state space representation of connected system, state space representation of generalized plant for various control problem, mixed sensitivity problem†
2010.10.21†
2010.10.28†
Speed control of two inertia system with servo motor (1/3)†
- Problem setup
- Modelling (frequency response experiment)
Speed control of two inertia system with servo motor (2/3)†
...
related links†