Digital Control Systems [MEE 4003] - Kckong.info

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1.3. REFERENCES 9 digital controller generates the torque command to be proportional to the angular position error. The angular position is measured by a potentiometer. • What are the signals • What are the systems • What is the plant • What is the controller • What is the sensor • How is the block diagram represented • What are the expected disturbances • Is this system a continuous or digital control system 1.3 References 1. Wikipedia, available on-line: www.wikipedia.com Digital Control Systems, Sogang University Kyoungchul Kong
Chapter 2 Review of Continuous-Time Domain Control Theory 2.1 State Space Realization of Dynamic Systems 2.1.1 Differential equations: state space realization Dynamics of systems can be described by equations of motions, which are in general described by differential equations. Modeling of complicated mass-spring-damper systems A mechanical system with multiple masses, springs, and dampers can be described as a mathematical model: Mẍ+Cẋ+Kx = u where M ∈ R n×n is the mass matrix, C ∈ R n×n is the damping coefficient matrix, K ∈⎡R n×n ⎤is the spring constant matrix, x 1 x 2 x = ⎢ ⎥ ⎣ . ⎦ ∈ Rn is the position vector (x 1 , ...,x n are the position of each mass), x n ⎡ u = ⎢ ⎣ ⎤ u 1 u 2 ⎥ . u n ⎦ ∈ Rn is the input vector (u 1 , ...,u n are the force applied to each mass). 10
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