Motivating Example - Control of a Robot Joint

Say

• - Voltage
• - Torque
• - Angle of link 2 relative to link 1
• is the desired angle

Goal

What is so ?

Modelling

• We use a sensor to determine
• This block diagram model is called a ‘plant’

We want to compare \theta_de := \theta_{\text{meas}} - \theta_dv(t)$

So we can redefine our goal as:

Design the controller to map (algorithm) such that (i.e. )

The objective of the course is to convert desirable system behavior into mathematical conditions and implementable algorithms

Main Steps in the Control Design Process

1. Construct a mathematical model suitable to control design (1st half of the course)
2. Define verifiable specifications (transient and steady-state) (1st half of the course)
3. Analyze and evaluate stability of the closed-loop system (CLS) (2nd half of the course)
4. Design the controller (2nd half of the course)
5. Simulate and tune parameters (Labs)
6. Implement in practice (Labs)