In controller design we try to meet some objective. Typical objectives include,
- positioning - for moving from position to position, where the setpoint is changed suddenly
deadbeat control
first order
- tracking - for following paths where setpoints are constantly changing
first order
- disturbance resistant - unexpected variations can be compensated for
step response
- multi-stage - for complex systems that need small errors
feed forward disturbance - can reduce effects of disturbances
feed forward command - to follow complex motions
cascade - a controller that examines intermediate steps of a process
• typical constraints to be developed are,
- stability - does not diverge over time
- stability - sampling period is short enough (no-aliasing)
- realizable - does not refer to future values
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