Thursday, June 16, 2011

Lecture Series on Robotics - Internal State and External State

Lecture Series on Robotics by Prof.C.Amarnath, Department of Mechanical Engineering,IIT Bombay.
Lecture Video Robotics Control - Internal State Sensors, External State Sensors

Lecture - 9 Internal State Sensors

Lecture - 10 Internal State Sensors

Lecture - 11 External State Sensors

Handling Blocks with Internal State Representation
The operating point object used for linearization and control design does not include these Simulink blocks with internal state
Blocks with internal states can cause problems for steady-state operating point search (trimming). Where there is no direct feedthrough, the input to the block at the current time does not determine the output of the block at the current time.

Discrete State Space Control
In this set of notes we consider ‘modern methods’ of control system design i.e. state space. With state space design, we remain in the time domain and thus work directly with the differential equation model of our plant. It is important to realise that whether we work with transfer functions or with differential equations in state space form, the mathematics describes the same thing and the forms can be interchanged. The major advantage however of working with a state space model of a system is that the internal system state is explicitly maintained over time, where as with a transfer function, only the
input output relationship is maintained.

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