PPT-Digital and Non-Linear Control

Digital Control System Time Domain and Stability Analysis 1 Introduction The time response of a discretetime linear system is the solution of the difference equation governing the system For the . One of the most important aspects is the sampling proces s level In continuous time control systems all the system variable s are continuous signals Whether the system is linear or nonlinear all variables are continu ously present and therefore know Thus the outputs of a digital controller shou ld 64257rst be converted into analog signals before being applied to the systems Another way to lo ok at the problem is that the high frequency components of should be removed before applying to analog N is the process noise or disturbance at time are IID with 0 is independent of with 0 Linear Quadratic Stochastic Control 52 brPage 3br Control policies statefeedback control 0 N called the control policy at time roughly speaking we choo N with state input and process noise linear noise corrupted observations Cx t 0 N is output is measurement noise 8764N 0 X 8764N 0 W 8764N 0 V all independent Linear Quadratic Stochastic Control with Partial State Obser vation 102 br The design of digital 57356lters in olv es three basic steps The sp eci57356cation of the desired prop erties of the system The appro ximation of these sp eci57356cations using causal discretetime system The realization of these sp eci57356cations u A Job Talk at YOUR UNIVERSITY . Dan Faltesek. TODAY’S DATE. Why Study the Digital Transition?. Digital signal processing is central to a host of emerging media platforms. The Digital is one of several stand-ins for technological change in public discourse. Professor Shiyan Hu. EERC 518. Department of Electrical and Computer Engineering . Michigan Technological University. 1. Class Time and Office Hour. Class Time: MW 11:05-11:55 (. Rekhi. Hall G009). Office Hours: MW 15:00-16:00 or by appointment, office: EERC 518. Transfer Function and Stability. 1. Transfer Function. Transfer Function is the ratio of Laplace transform of the output to the Laplace transform of the input. Consider all initial conditions to zero.. Charlotte Kiang. May 16, 2012. About me. My name is Charlotte Kiang, and I am a junior at Wellesley College, majoring in math and computer science with a focus on engineering applications.. What I hope to accomplish today. Digital Control and Z Transform. 1. Introduction. Digital control offers distinct advantages over analog control that explain its popularity.. Accuracy: . Digital signals are more accurate than their analogue counterparts. . INTRODUCTION. Introduction. . What. is a . control. . system. ?. Objective:. To make the system OUTPUT and the desired REFERENCE as close as. . possible, i.e., to make the ERROR as . small as possible.. Digital System Frequency Response and Modeling. 1. Lecture Outline. Sampling Theorem. Frequency Response. ADC Model. DAC Model. Combined Models. 2. Sampling Theorem. Sampling is necessary for the processing of analog data using digital elements.. INTRODUCTION. Introduction. . What. is a . control. . system. ?. Objective:. To make the system OUTPUT and the desired REFERENCE as close as. . possible, i.e., to make the ERROR as . small as possible.. 9. th. IEEE-RAS International Conference on Humanoid Robots. December 8, 2009. Modeling and Control of Periodic Humanoid Balance Using the Linear Biped Model. Introduction. 2. Motivation. 3. Simple models for complex systems.