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Important notions : |
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One of them is stability which we have seen .Others are controllability & observability. |
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Controllability: |
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System is said to be Controllable if robot can be taken
from one to another state in finite time
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Linear systems: |
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Conditions on matrix A,B,C,D for controllability.
Matrix A, B, C, D are the coefficient matrix in state space representation. |
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Observability : |
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It checks whether feedback taken from given sensors is sufficient to define state of system or not. Conditions on A, B, C, D for observability. |
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Classical Controller Design |
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Control Startegy |
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PID control action
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We will see some features of PID controller which is widely used in practice. |
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It is widely used for linear and nonlinear systems. |
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Contol action is combination of Proportional, Integral & Derivative action
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It May not always lead to stabilizing controller. |
