General Feedback Loop Introduction to Feedback Control Beard McLain Peterson Killpack 2 Note that this is not et Motivation Introduction to Feedback Control Beard McLain Peterson Killpack ID: 912375
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Slide1
Chapter 17
Stability and Robustness Margins
Slide2General Feedback Loop
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Note that this is not e(t)
Slide3Motivation
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide4Motivation
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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The purpose of this chapter is to understand how phase influences stability
Slide5Definition: Crossover Frequency
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide6Stability and Phase
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide7Stability and Phase
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Unstable Condition:
Phase = 180 at crossover
Slide8Phase and Gain Margin
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide9Phase and Gain Margin in the Complex Plane
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide10Closed Loop System and PM/GM
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide11Closed Loop System and PM/GM
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide12Closed Loop System and PM/GM
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide13Closed Loop System and PM/GM
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide14Closed Loop System and PM/GM
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide15Closed Loop System and PM/GM
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide16Bode Phase-Gain Relationship
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide17Bode Phase-Gain Relationship
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide18Ideal Loopshape
Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
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Slide19Design Study A
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Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
Single link robot with PID controller
Slide20Design Study B
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Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
Pendulum inner loop with PD control
Slide21Design Study B
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Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
Pendulum outer loop with PID control
Slide22Design Study C
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Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
Satellite inner loop with PD control
Slide23Design Study C
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Introduction to Feedback Control, Beard, McLain, Peterson, Killpack
Satellite outer loop with PID control