40.7 MISC

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- controller goals

stabilize - to make the system stable

regulate - to control the system about a central design value

follow - to track an input/feedback signal

disturbance rejection - to minimize the effects of noise

- state diagrams can be used with multiple input/multiple output (MIMO) systems

- state based controller designs,

state feedback - in an ideal controller the full state variables can be measured

observer-estimator - determines the system state using limited data.

- Linear Time Invariant (LTI) systems are linear, having constant coefficients. For example, state coefficient matrices are all constant values

- Linear systems allow superposition

- leaf springs are non-linear and have a cubic relationship to displacement

- if a system input (setpoint) is zero, or not used, then the control system is called a regulator.

- stepper motor motion plans should not be approximate, the stepper motor should follow the path, although trapezoidal profiles are more common.