This textbook provides a unique introduction to Feedback Control. It differs from typical control books by presenting principles in the context of three specific design examples: a one link robot arm, a pendulum on a cart, and a satellite attitude problem. These three design examples illustrate the full process of implementing control strategies on mechanical systems. The book begins by introducing the Euler Lagrange method for modeling mechanical systems and discusses computer simulation of these models. Linear design models are developed, specifically transfer function and state space models, that capture the behavior of the system around equilibria. The book then presents three different design strategies for output feedback control: PID control, observer based design, and loopshaping design methods based on the frequency response of the system. Extensive examples show how the controllers are implemented in Simulink, Matlab object oriented code, and Python.
Author(s): R. Beard, T. McLain, C. Peterson
Publisher: Independently published
Year: 2021
Language: English
Pages: 496
Tags: Feedback Control, BYU, Beard, Controlbook
1 Introduction
Design Study A: Single Link Robot Arm
Design Study B: Pendulum on a Cart
Design Study C: Satellite Attitude Control
I Simulation Models
2 Kinetic Energy
3 Euler-Lagrange
II Design Models
4 Linearization
5 Transfer Functions
6 State Space Models
III PID Control Design
7 Second Order Systems
8 Second Order Design
9 Integrators
10 Digital PID
IV Observer Based Control Design
11 Full State Feedback
12 Full State with Integrators
13 Observers
14 Disturbance Observers
V Loopshaping Control Design
15 Frequency Response
16 Frequency Specifications
17 Stability and Robustness Margins
18 Compensator Design
VI Homework Problems
D Design Study: Mass Spring Damper
E Design Study: Ball on Beam
F Design Study: Planar VTOL
Appendices
P.1 Simulating Control Systems in Python
P.2 Simulating Control Systems in Matlab
P.3 Simulating Control Systems in Simulink
P.4 Numerical ODE Solvers
P.5 Differential Equations
P.6 Root Locus
P.7 Linear Algebra
Bibliography
Index
