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Digital control: Exercise solution

Can you help me (show me how) to solve the following exercise? For the process with transfer function $G(s)=e^{-2s}/(s+1)$ design a digital controller with sampling time $T_{s} = 1$ that meets the ...
Backo's user avatar
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How do I check controllability and observability using Gramian matrixes?

I have a pending exam and this is one of the must-know questions. It will be about checking controllability/observability of a simple MIMO linear system, using Controlability Gramian/Observability ...
Vorac's user avatar
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113 views

Optimal inference for nonlinear state space models

When considering a linear-Gaussian state space model, it is often referred that, optimal inference is tractable which is very rare in state space models. When considering a nonlinear state space model,...
Deniz's user avatar
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2 votes
1 answer
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PID Tuning for 6 degree of freedom robot with ROS

I'd like to start by saying that I'm pretty clueless about controllers, control theory, or really anything to do with this subject. I'm a programmer, but I'm part of a project involving a 6 degree of ...
Desmond Harris's user avatar
2 votes
0 answers
50 views

Direct and numerically robust conversion from zero-pole to state-space representation

Note: this question was initially asked in a different community. Encouraged by the comments, I decided to cross-post here too. Given (z,p,k) my goal is to convert to a state-space representation (A, ...
DaveC's user avatar
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2 votes
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Implementing digital controller in the time domain

I have simulated a digital control system in the Z domain using MATLAB and I have got satisfactory results. However, when I converted the plant and the digital controller to difference equations and ...
learn design's user avatar
2 votes
0 answers
156 views

Non-rectangular meshgrid in MATLAB

I want to create a non-rectangular meshgrid in matlab. Basically I have a polygon shaped feasible set I need to make a grid of in order to interpolate 3D data points in this set. The function for ...
Name123's user avatar
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2 votes
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Are there control loops that attempt to maximize a process variable?

I'm working on Remote-Procedure Call (RPC) server that processes incoming streams of data from clients, and looking for a way to set a limit on the number of simultaneous streams allowed. There is ...
jacobsa's user avatar
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State space representation using a given nilppotent matrix

I want to build a question on state space using a given, nilpotent matrix, $A$. $$q[n+1]=Aq[n]+Bx[n]$$ $$y[n]=Cq[n]+Dx[n]$$ Usually, I am using the canonical form so there is no problem extracting $A,...
havakok's user avatar
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2 votes
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Signifance of statistical information in a signal

I am learning control engineering for some time and I work with a lot of transfer functions and frequency domain design. Reading from textbook, to me everything seems deterministic. Whenever I come ...
jrvinayak's user avatar
2 votes
1 answer
194 views

Region of root locus not inside the feasible region for a given performance specification

I wanted to plot the root locus for a system, whose plant transfer function is $$ P(s)= \frac{k}{Ts+1}e^{-ts}. $$ A PI controller was suggested for this system, and the task is to find $K_p$ and $K_i$...
Dhanush Ja's user avatar
1 vote
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truncating a system and plotting it on bode

Let system G(s) be: $$ G(s)=\sum_{i=0}^{10}\frac{(-1)^i}{(2i+1)^2}\frac{\omega_i}{s^2+2\zeta_i \omega_i s+\omega_i ^2}$$ $$\omega_i=\frac{(2i+1)\pi}{T}\, T=1\, \zeta_i=0.2$$ Its impulse response is an ...
Rice's user avatar
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1 vote
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Why lag compensator is preferred over PI for sinusoidal reference?

In this post, LJSilver mentioned that a PI compensator is not appropriate for a constantly changing reference, such as a sinusoidal waveform. In this scenario, a lag compensator is considered the ...
internet's user avatar
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Confused with special cases of Routh-Hurwitz

When the first column only has a zero we replace is with an $\epsilon$ so we don't divide by zero ahead but divide by the $\epsilon$ then take the limit as it goes to zero. meanwhile if an entire row ...
Essam's user avatar
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1 vote
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28 views

Is there a standardize method for writing statements combinations of (RF) signal flow path through a system?

Let's say I am given a system block diagram of various components that either route/switch/amplify/filter and so on. Each of these components of the system perform these signal modifications or lack ...
whataretheydoing's user avatar
1 vote
0 answers
89 views

How can to obtain the hughcut, lowcut and bode constant of a bandpass digital filter?

I need to create a bandpass filter amplifier in python; and determine the transfer function, graph the bode diagram, and print the highcut frequency, lowcut frequency, the bode constant and the ...
Marcia Cocozza's user avatar
1 vote
0 answers
57 views

derivating input output relationship of a block diagram when there is noise added to the output

For the following system, I am not quite sure how the equation representing the input output relation is derived. Here, r is an input reference signal, $d_e$ is external disturbance and $n$ is noise. ...
sunxd's user avatar
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1 vote
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177 views

Are there any State Space Control C libraries?

I'm searching for a C library which implements methods needed for state space control (e.g. state feedback controller and state observer equations). Googling various terms only brought up a non-C (C# ?...
ClBr's user avatar
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1 vote
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167 views

Kalman Filter: Difference between sensor input and control input

I recently saw a matlab sensor fusion example which combined IMU and GPS data for drone localization. What was surprising about it was that the IMU was used to predict future behavior of the system as ...
FourierFlux's user avatar
1 vote
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368 views

Time-Invariant (non)autonomous Systems

Regarding potential distinctions between autonomous, non-autonomous, time-invariant and time-varying systems, I have found out opinions supporting that: autonomous systems are time-invariant and non-...
axel's user avatar
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1 vote
0 answers
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Controller design with DQ transform

I'm reading this paper on a 3-phase rectifier control. 3-phase rectifiers are usually connected to 50-Hz or 60-Hz grid. One popular control strategy is to transform the 3-phase currents and voltages ...
Ben's user avatar
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1 vote
0 answers
84 views

How can I correct the settling time when implementing a pre-filter (reference filtering)?

I have designed a controller for the speed of a motor, I calculated that for a settling time $0.1 \; s$, it works when I test it without pre-filtering. However, I need $0$ overshoot, so I implemented ...
Andres Felipe Hoyos Moreno's user avatar
1 vote
0 answers
184 views

Influence of a RHP zero/pole in the frequency response

I am studying loop shaping, and I am looking at loop shaping design with unstable poles and zeros. I have seen that noth unstable poles and zeros introduce limitations in the bandwidth. I have also ...
J.D.'s user avatar
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1 vote
0 answers
29 views

Taking transfer function out of real heating system

I have some king of heating system: heater (that I can control current for final power control) and a thermocouple (for measuring the temperature). I also have a device that can record temperatures ...
kamillabaarnowak's user avatar
1 vote
0 answers
242 views

Position Kalman Filter fails to track a constant-acceleration path

I'm trying to build a discrete Kalman Filter that fuses accelerometer (acceleration) and GPS (position, velocity) measurements. However, I'm finding that my filter can't properly track a constant-...
jd9610's user avatar
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1 vote
0 answers
156 views

How can I design a PI controller for a closed loop system, which requires a bandwidth equal to the natural frequency and a set Phase Margin?

For a school project I have to hand in a small report on a this problem. I've been studying so much for it but right now I'm just mixing up everything I've seen and just don't know where to start. I'd ...
Querci's user avatar
  • 11
1 vote
0 answers
118 views

How can I find the transfer function from this Bode diagram?

I've been given this bode diagram : I've been asked to find the transfer function only by using the bode diagram. It's the first time I'm doing this so here's what I thought. The starting value is ...
John Katsantas's user avatar
1 vote
0 answers
4k views

Deriving the transfer functions of a heating system

I'm tying to develop a model for a heated system that consists of a small steel block (~25 sq. in.) with a heating element embedded in it. The block acts as a sort of hot-plate that is used to deform ...
youtooth's user avatar
  • 111
1 vote
0 answers
39 views

Perturbation test for a real plant

How should we conduct a perturbation test for an LTI unknown system by perturbing the input to see the output response i.e. How many different perturbation step size should be given to the input?
Leb_Broth's user avatar
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1 vote
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Parameter identification for PI controller

I have a PI temperature controller being used in experiments, which I am also trying to simulate. However, using the proportional gain and integral time as used in the experiments gives different ...
user19498's user avatar
1 vote
0 answers
140 views

Does the integrator in a PID controller removes the disturbance?

I am reading "Small Unmanned Aircraft: Theory and Practice" (page 7). We have the following Transfer Function (TF): $\phi(s)=\frac{a_{\phi 2}}{s(s+a_{\phi 1})}(\delta_a(s)+\frac{1}{a_{\phi 2}}d_{\phi ...
student1's user avatar
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0 answers
28 views

Peak prediction

In my block, I am changing the gain of Amplifier (PGA) in step of +/- 1dB depending on the control voltage derived from the AGC (Automatic Gain Control). But can I change the gain of PGA in one shot ...
JHKKHJ's user avatar
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0 votes
0 answers
13 views

Advantages of Euler vs Quaternion vs Axis-Angle Paramertization

I have spent a bit of time studying attitude estimation and I noticed that uncertainty of orientation can basically be represented in three forms. Euler angles, Axis Angle and Quaternions. Quaternions ...
FourierFlux's user avatar
0 votes
0 answers
42 views

Smoothing sensor signal with discontinuities on DSP for obtaining signal derivative

I am trying to implement PID control on a sensor signal that has many discontinuities in it. Due to these discontinuities, the differentiated signal does not provide a meaningful or useful signal I ...
Mr Phase Locked Loop's user avatar
0 votes
1 answer
102 views

Performing experiment on a digital control system

I want to perform experiment(s) on a digital control system. I have several questions: In analog control systems, the adder is usually an operational amplifier. However, since here the system will be ...
Root Groves's user avatar
0 votes
0 answers
27 views

Desired trajectory generation from transfer function in control theory

I am trying to implement the backstepping techniques for quadrotor described in this article : Backstepping control for a quadrotor helicopter: Madani & Benallegue 2006 Since I am new to the ...
aRedDish's user avatar
0 votes
0 answers
20 views

how does steady-state error decrease as the pole of the compensator moves closer to the origin?

The steady-state error improves when the pole moves closer to the origin, as seen in lag or integral compensators with step input. Is there an intuitive explanation for this phenomenon?
internet's user avatar
  • 131
0 votes
0 answers
49 views

control system : time domain analysis

This is the question. According to this, when we solve for transfer function we will get $20/s^2+5s+24$. but this is not the correct format as numerator should be equal to the last term, i.e., 24, in ...
stuti's user avatar
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0 votes
0 answers
12 views

Difference between H2 control and input shaping

Let us assume a system with external disturbance to reject. The system that is used for controlling has vibrations, that we would like to avoid. We assume moreover that the dynamics are known (10% ...
baptiste's user avatar
0 votes
1 answer
140 views

Finding the region of stability of a system

Suppose we have a closed loop system controlled by some microcontroller $K$ First we take the open loop gain which is $\frac{K}{s(s+6)}$.It has 1 pole at the origin and at $s=6$ and 0 zeros. So we ...
Volpina's user avatar
  • 295
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0 answers
38 views

What is the point of using this derived PID controller?

Previously, I answer for this PID controller that I want to understand completly. This is used for control the opening $U_n$ of a valve let gas pass and reach a certain pressure (SetPoint). There is ...
Santiago Mercante's user avatar
0 votes
0 answers
26 views

Output signal for space-state

I have a space-state system and I need to find the output signal of it. Can anyone here explain to me how to do it? My soluation: is it a right answer?
Tornedoar's user avatar
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0 answers
26 views

Step response of a given input and output (Laplace or Fourier)

I am trying to calculate the step response of the following given: Should I use Laplace transform or Fourier transform?
Mandalorean's user avatar
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0 answers
56 views

How to find response of step function in matlab and plot transfer function?

I have an transfer function: $$\frac{Y(s)}{F(s)} = \frac{s^2+2s+3}{s^4+6s^3+13s^2+12s+9}$$ How can I find $Y(s)$ response of step function if $f(t)=\sin(5t)$ in MATLAB. And how can I plot the transfer ...
Ali DENİZ's user avatar
0 votes
0 answers
390 views

Is it allowable to place a zero to cancel out a complex pole?

Consider the following transfer function : $$ T(s)=\frac{4}{s^{2}+2s+4} $$ I wish to design a lead-lag compensator satisfying a set of requirements. What matters for now is the process done to meet ...
CynthiaZ1998's user avatar
0 votes
0 answers
26 views

How can we translate this statement into an input signal expression?

I want to make sure if I got this right, the following statement: if the operator enters a unity sloped linearly increasing input then the output must eventually track the input and be at most 0.1 cm ...
SPARSE's user avatar
  • 129
0 votes
0 answers
54 views

what is the difference between LMS and MPC?

I do understand that MPC is a control method and requires known model in the feedback path. LMS, on the other hand, is more like an adaptive filtering, which estimates the tap coefficients yielding ...
Emmmm's user avatar
  • 35
0 votes
0 answers
60 views

How to handle cross products in feedback loop?

I'm trying to simplify the following block diagram from to the following block diagram However, h(t), H(s) in time domain, has a cross product in it (gyroscopic torque). How can I represent the ...
fewqo's user avatar
  • 1
0 votes
0 answers
18 views

music sampler control

I'm a reasonably competent web programmer and I would like to know how I should go about learning to program a software that would control a music sampler. The hardware setup I was given is a sampler (...
flish's user avatar
  • 101
0 votes
0 answers
40 views

Control of a nonlinear static MIMO System

I am currently writing my master thesis and trying to design a controller for my system. However, the system is somewhat unconventional. It has a large number of inputs and outputs, is static, non-...
David Zanger's user avatar