© Ali AlSaibie, PhD.
© Ali AlSaibie, PhD.
This lesson is an introduction to Simulation of Dynamical Systems, through the use of built-in functions as well as by applying basic numerical integration techniques. The goal of this lesson is to set the structure in place for applying feedback control on both linear and non-linear systems.
Building on material from Lesson 1, feedback control is introduced in the context of numerical toolboxes' built-in functions and through numerical integration. Transient and steady-state response is observed by manual tuning of PID controller gains.
This lesson showcases the way a controller is designed using pole placement and root-locus. The controller designed using root-locus is implemented back into closed-loop simulation of the system.
Multi-Input Multi-Output systems are discussed, and a full-state feedback controller as well as an LQR design example is given. Controllers are simulated on a crane system and an inverted pendulum on a cart.
A short lesson explaining how a continuous PID controller, and discrete PID controllers, can be implemented numerically.