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11: Control Fundamentals

Last updated

Apr 23, 2021
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- 10.8: What Does an Inertial Measurement Unit Measure?
- 11.1: Introduction to Control Fundamentals

Franz S. Hover & Michael S. Triantafyllou
Massachusetts Institute of Technology via MIT OpenCourseWare

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11.1: Introduction to Control Fundamentals
The scope of controller design and the need for modeling, using linear systems analysis.
11.2: Partial Fractions
Applying partial fraction expansions to a signal created by solving LTI systems through the Laplace Transform method, to find the time-domain output signals.
11.3: Stability
Stability in linear systems, in partial fraction expansions, and in general systems.
11.4: Representing Linear Systems
The transfer function description of linear systems has already been described in the presentation of the Laplace transform. The state-space form is an entirely equivalent time-domain representation that makes a clean extension to systems with multiple inputs and multiple outputs, and opens the way to many standard tools from linear algebra. This section addresses writing linear systems in state-space form and the interconversion of state-space models and transfer functions.
11.5: Block Diagrams and Transfer Functions of Feedback Systems
The use of block diagrams to model a feedback system, including the three external inputs that augment any such actual system and the derivation of these inputs.
11.6: PID Controllers
Introduction to the proportional-integral-derivative (PID) control law.
11.7: Example: PID Control
Example illustrating the difference between a proportional-only, proportional-derivative only, and proportional-integral-derivative control system, addressing stability and bias.
11.8: Heuristic Tuning
Transforming the characteristics of a step response to create a reasonable PID design; approximating the response curve by a first-order lag and pure delay.

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