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16.31 Feedback Control Systems (MIT) 16.31 Feedback Control Systems (MIT)

Description

This course covers the fundamentals of control design and analysis using state-space methods. This includes both the practical and theoretical aspects of the topic. By the end of the course, the student should be able to design controllers using state-space methods and evaluate whether these controllers are robust. This course covers the fundamentals of control design and analysis using state-space methods. This includes both the practical and theoretical aspects of the topic. By the end of the course, the student should be able to design controllers using state-space methods and evaluate whether these controllers are robust.

Subjects

linear system response | linear system response | aircraft control | aircraft control | frequency response methods | frequency response methods | Nyquist stability theorem | Nyquist stability theorem | bode plots | bode plots | state-space systems | state-space systems | full-state feedback control | full-state feedback control | open-loop estimators | open-loop estimators | closed-loop estimators | closed-loop estimators | robustness analysis | robustness analysis | small gain theorem | small gain theorem

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see http://ocw.mit.edu/terms/index.htm

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6.832 Underactuated Robotics (MIT) 6.832 Underactuated Robotics (MIT)

Description

Includes audio/video content: AV lectures. Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines. This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/a Includes audio/video content: AV lectures. Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines. This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/a

Subjects

underactuated robotics | underactuated robotics | actuated systems | actuated systems | nonlinear dynamics | nonlinear dynamics | simple pendulum | simple pendulum | optimal control | optimal control | double integrator | double integrator | quadratic regulator | quadratic regulator | Hamilton-Jacobi-Bellman sufficiency | Hamilton-Jacobi-Bellman sufficiency | minimum time control | minimum time control | acrobot | acrobot | cart-pole | cart-pole | partial feedback linearization | partial feedback linearization | energy shaping | energy shaping | policy search | policy search | open-loop optimal control | open-loop optimal control | trajectory stabilization | trajectory stabilization | iterative linear quadratic regulator | iterative linear quadratic regulator | differential dynamic programming | differential dynamic programming | walking models | walking models | rimless wheel | rimless wheel | compass gait | compass gait | kneed compass gait | kneed compass gait | feedback control | feedback control | running models | running models | spring-loaded inverted pendulum | spring-loaded inverted pendulum | Raibert hoppers | Raibert hoppers | motion planning | motion planning | randomized motion planning | randomized motion planning | rapidly-exploring randomized trees | rapidly-exploring randomized trees | probabilistic road maps | probabilistic road maps | feedback motion planning | feedback motion planning | planning with funnels | planning with funnels | linear quadratic regulator | linear quadratic regulator | function approximation | function approximation | state distribution dynamics | state distribution dynamics | state estimation | state estimation | stochastic optimal control | stochastic optimal control | aircraft | aircraft | swimming | swimming | flapping flight | flapping flight | randomized policy gradient | randomized policy gradient | model-free value methods | model-free value methods | temporarl difference learning | temporarl difference learning | Q-learning | Q-learning | actor-critic methods | actor-critic methods

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see http://ocw.mit.edu/terms/index.htm

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2.003 Modeling Dynamics and Control I (MIT) 2.003 Modeling Dynamics and Control I (MIT)

Description

Includes audio/video content: AV special element video. This course is the first of a two term sequence in modeling, analysis and control of dynamic systems. The various topics covered are as follows: mechanical translation, uniaxial rotation, electrical circuits and their coupling via levers, gears and electro-mechanical devices, analytical and computational solution of linear differential equations, state-determined systems, Laplace transforms, transfer functions, frequency response, Bode plots, vibrations, modal analysis, open- and closed-loop control, instability, time-domain controller design, and introduction to frequency-domain control design techniques. Case studies of engineering applications are also covered. Includes audio/video content: AV special element video. This course is the first of a two term sequence in modeling, analysis and control of dynamic systems. The various topics covered are as follows: mechanical translation, uniaxial rotation, electrical circuits and their coupling via levers, gears and electro-mechanical devices, analytical and computational solution of linear differential equations, state-determined systems, Laplace transforms, transfer functions, frequency response, Bode plots, vibrations, modal analysis, open- and closed-loop control, instability, time-domain controller design, and introduction to frequency-domain control design techniques. Case studies of engineering applications are also covered.

Subjects

modeling | modeling | analysis | analysis | dynamic | dynamic | systems | systems | mechanical | mechanical | translation | translation | uniaxial | uniaxial | rotation | rotation | electrical | electrical | circuits | circuits | coupling | coupling | levers | levers | gears | gears | electro-mechanical | electro-mechanical | devices | devices | linear | linear | differential | differential | equations | equations | state-determined | state-determined | Laplace | Laplace | transforms | transforms | transfer | transfer | functions | functions | frequency | frequency | response | response | Bode | Bode | vibrations | vibrations | modal | modal | open-loop | open-loop | closed-loop | closed-loop | control | control | instability | instability | time-domain | time-domain | controller | controller | frequency-domain | frequency-domain

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see http://ocw.mit.edu/terms/index.htm

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2.003 Modeling Dynamics and Control I (MIT)

Description

This course is the first of a two term sequence in modeling, analysis and control of dynamic systems. The various topics covered are as follows: mechanical translation, uniaxial rotation, electrical circuits and their coupling via levers, gears and electro-mechanical devices, analytical and computational solution of linear differential equations, state-determined systems, Laplace transforms, transfer functions, frequency response, Bode plots, vibrations, modal analysis, open- and closed-loop control, instability, time-domain controller design, and introduction to frequency-domain control design techniques. Case studies of engineering applications are also covered.

Subjects

modeling | analysis | dynamic | systems | mechanical | translation | uniaxial | rotation | electrical | circuits | coupling | levers | gears | electro-mechanical | devices | linear | differential | equations | state-determined | Laplace | transforms | transfer | functions | frequency | response | Bode | vibrations | modal | open-loop | closed-loop | control | instability | time-domain | controller | frequency-domain

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see https://ocw.mit.edu/terms/index.htm

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2.003 Modeling Dynamics and Control I (MIT)

Description

This course is the first of a two term sequence in modeling, analysis and control of dynamic systems. The various topics covered are as follows: mechanical translation, uniaxial rotation, electrical circuits and their coupling via levers, gears and electro-mechanical devices, analytical and computational solution of linear differential equations, state-determined systems, Laplace transforms, transfer functions, frequency response, Bode plots, vibrations, modal analysis, open- and closed-loop control, instability, time-domain controller design, and introduction to frequency-domain control design techniques. Case studies of engineering applications are also covered.

Subjects

modeling | analysis | dynamic | systems | mechanical | translation | uniaxial | rotation | electrical | circuits | coupling | levers | gears | electro-mechanical | devices | linear | differential | equations | state-determined | Laplace | transforms | transfer | functions | frequency | response | Bode | vibrations | modal | open-loop | closed-loop | control | instability | time-domain | controller | frequency-domain

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see https://ocw.mit.edu/terms/index.htm

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6.832 Underactuated Robotics (MIT)

Description

Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines. This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/approximate optimal control, and the influen

Subjects

underactuated robotics | actuated systems | nonlinear dynamics | simple pendulum | optimal control | double integrator | quadratic regulator | Hamilton-Jacobi-Bellman sufficiency | minimum time control | acrobot | cart-pole | partial feedback linearization | energy shaping | policy search | open-loop optimal control | trajectory stabilization | iterative linear quadratic regulator | differential dynamic programming | walking models | rimless wheel | compass gait | kneed compass gait | feedback control | running models | spring-loaded inverted pendulum | Raibert hoppers | motion planning | randomized motion planning | rapidly-exploring randomized trees | probabilistic road maps | feedback motion planning | planning with funnels | linear quadratic regulator | function approximation | state distribution dynamics | state estimation | stochastic optimal control | aircraft | swimming | flapping flight | randomized policy gradient | model-free value methods | temporarl difference learning | Q-learning | actor-critic methods

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see https://ocw.mit.edu/terms/index.htm

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16.31 Feedback Control Systems (MIT)

Description

This course covers the fundamentals of control design and analysis using state-space methods. This includes both the practical and theoretical aspects of the topic. By the end of the course, the student should be able to design controllers using state-space methods and evaluate whether these controllers are robust.

Subjects

linear system response | aircraft control | frequency response methods | Nyquist stability theorem | bode plots | state-space systems | full-state feedback control | open-loop estimators | closed-loop estimators | robustness analysis | small gain theorem

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see https://ocw.mit.edu/terms/index.htm

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Control systems analysis for engineers

Description

This site contains links to resources for an introduction to control analysis for second year engineering undergraduate.The main focus is on block diagrams, offsets, pole computations, understanding stability/instability, root-loci, bode, nyquist, margins and an introduction to lead and lag compensation. The focus is on analysis not design which is covered in a later course. The resources here include the lecture hand outs which include embedded tutorial questions, some powerpoints for structuring lectures, some games/quizzes for lectures, a MATLAB laboratory based on significant prior practice, a FLASH lecture and then a formal laboratory test under exam conditions and a small data base of CAA developed on webct (here provided in a zip file). These were developed at the University of Shef

Subjects

ukoer | block diagrams | feedback | offset | steady state errors | poles | open-loop | closed-loop | root-loci | control | performance | frequency response | gain margin | phase margin | lead compenssator | lag compensator | sisotool | signal flow graph | convolution | resonance | control analysis | classical control | creative commons | laplace | bode | nyquist | matlab | engineering undergraduate education ukoer | oer | jisc | hea | hea engineering subject centre | university of sheffield | flash lecture | sheffieldunioer | engscoer | cc-by | wales | engineering | Mathematical and Computer Sciences | Engineering | Computer science | H000 | I100 | ENGINEERING | X

License

Attribution 2.0 UK: England & Wales Attribution 2.0 UK: England & Wales http://creativecommons.org/licenses/by/2.0/uk/ http://creativecommons.org/licenses/by/2.0/uk/

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2.003 Modeling Dynamics and Control I (MIT)

Description

This course is the first of a two term sequence in modeling, analysis and control of dynamic systems. The various topics covered are as follows: mechanical translation, uniaxial rotation, electrical circuits and their coupling via levers, gears and electro-mechanical devices, analytical and computational solution of linear differential equations, state-determined systems, Laplace transforms, transfer functions, frequency response, Bode plots, vibrations, modal analysis, open- and closed-loop control, instability, time-domain controller design, and introduction to frequency-domain control design techniques. Case studies of engineering applications are also covered.

Subjects

modeling | analysis | dynamic | systems | mechanical | translation | uniaxial | rotation | electrical | circuits | coupling | levers | gears | electro-mechanical | devices | linear | differential | equations | state-determined | Laplace | transforms | transfer | functions | frequency | response | Bode | vibrations | modal | open-loop | closed-loop | control | instability | time-domain | controller | frequency-domain

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see https://ocw.mit.edu/terms/index.htm

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2.003 Modeling Dynamics and Control I (MIT)

Description

This course is the first of a two term sequence in modeling, analysis and control of dynamic systems. The various topics covered are as follows: mechanical translation, uniaxial rotation, electrical circuits and their coupling via levers, gears and electro-mechanical devices, analytical and computational solution of linear differential equations, state-determined systems, Laplace transforms, transfer functions, frequency response, Bode plots, vibrations, modal analysis, open- and closed-loop control, instability, time-domain controller design, and introduction to frequency-domain control design techniques. Case studies of engineering applications are also covered.

Subjects

modeling | analysis | dynamic | systems | mechanical | translation | uniaxial | rotation | electrical | circuits | coupling | levers | gears | electro-mechanical | devices | linear | differential | equations | state-determined | Laplace | transforms | transfer | functions | frequency | response | Bode | vibrations | modal | open-loop | closed-loop | control | instability | time-domain | controller | frequency-domain

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see https://ocw.mit.edu/terms/index.htm

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