1. DISCRETE CONTROLLER DESIGN

 

• In controller design we try to meet some objective. Typical objectives include,

- positioning - for moving from position to position, where the setpoint is changed suddenly

deadbeat control

first order

- tracking - for following paths where setpoints are constantly changing

first order

- disturbance resistant - unexpected variations can be compensated for

step response

- multi-stage - for complex systems that need small errors

feed forward disturbance - can reduce effects of disturbances

feed forward command - to follow complex motions

cascade - a controller that examines intermediate steps of a process

 

• typical constraints to be developed are,

- stability - does not diverge over time

- stability - sampling period is short enough (no-aliasing)

- realizable - does not refer to future values

 

 

1.1 POSITIONING CONTROLLERS

1.2 TRACKING

1.3 DISTURBANCE RESISTANT

1.4 MULTI-CONTROLLER SYSTEMS

1.5 SAMPLE TIME

1.6 SUMMARY

1.7 PRACTICE PROBLEMS

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