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Readings:
Emilio Frazzoli
# Date Topic
1 Sept. 22 Introduction, Signals and Systems
2 Sept. 29 Modeling, Linearization
3 Oct. 6 Analysis 1: Time response, Stability
4 Oct. 13 Analysis 2: Diagonalization, Modal coordi-
nates.
5 Oct. 20 Transfer functions 1: Definition and properties
6 Oct. 27 Transfer functions 2: Poles and Zeros
7 Nov. 3 Analysis of feedback systems: internal stability,
root locus
8 Nov. 10 Frequency response
9 Nov. 17 Analysis of feedback systems 2: the Nyquist
condition
10 Nov. 24 Specifications for feedback systems
11 Dec. 1 Loop Shaping
12 Dec. 8 PID control
13 Dec. 15 Implementation issues
14 Dec. 22 Robustness
i.e.,
x̃˙ = (T 1
AT )x̃ + (T 1
B)u = Ãx̃ + B̃u
y = (CT )x̃ + Du = C̃ x̃ + D̃u.
You can check that the time response is exactly the same for the two models
(A, B, C , D) and (Ã, B̃, C̃ , D̃)!
Avi = i vi .
AV = A 4 v1 v2 ... vn 5 = 4 1 v1 2 v2 ... n vn
5 = V ⇤.
x(t) = e At vi = e it
vi .
The modal coordinate x̃i scales the mode (e.g., at the initial condition);
The eigenvalue i defines how the amplitude of the mode evolves over time.
i.e., r
g
1,2 = ±j .
l
after time t:
multiply by e it
Re Re
m1 e j 1
· m2 e j 2
= (m1 + m2 )e j( 1+ 2)
Im Im
after time t:
multiply by e it
Re Re
t
x2 (t) = c2 e sin(!t + 2 ).
how the control input can a↵ect the state of the system;
y = c̃1 x̃1 (t) + c̃2 x̃2 (t) + . . . + c̃n x̃n (t) + Du(t).
Hence:
2 3 2 3
1.618j 0.4472j
6 1.618j 7 6 0.4472j 7
à = 6
4
7,
5 B̃ = 6
4 0.4472 5
7
0.618j
0.618j 0.4472
⇥ ⇤
C̃ = 0.276j 0.276j 0.724 0.724 , D̃ = [0].
2 3 2 3
j 0.707j
6 j 7 6 0.707j 7
à = 6
4
7,
5 B̃ = 6
4 0 5
7
j
j 0
⇥ ⇤
C̃ = 0 0 0.707 0.707 , D̃ = [0].
ẋ = (a bk)x
closed-loop
u t
0.2
Imaginary Axis (seconds-1 )
0.1
-0.1
-0.2
-0.3
-5 -4 -3 -2 -1 0 1
Real Axis (seconds-1 )
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-2
-2.5
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis (seconds-1 )
2
Imaginary Axis (seconds-1 )
-1
-2
-3
-4
-6 -5 -4 -3 -2 -1 0 1
Real Axis (seconds-1 )
E. Frazzoli (ETH) Lecture 4: Control Systems I 13/10/2017 25 / 26
Today’s learning objectives