Robotics

Course Purpose
This lecture discusses on a way of thinking of the feedback control which becomes a basis of control technologies. Furthermore, this lecture explains on a basic style of a system and an analysis way for it and explains about design method of a control system using them. Please note this lecture uses Scilab to deepen more understanding.
Learning Goals
Students should understand them as follows. (1) Laplace changes and the basic mathematics techniques (2) a physical modeling (3) the input/output system in the linear system (4) PID based control.
Topic
Session 1Basic concept of control, introduction to Scilab
Session 2Mathematics required for system control: Complex number, Laplace transform, Laplace inverse transform
Session 3Mathematics required for system control: Matrix
Session 4System elements: Transfer function (electrical-mechanical transfer function)
Session 5System elements: Block diagram
Session 6Response frequency characteristics: Time response, relationship between pole / zero and time response
Session 7Response frequency characteristics: Frequency response, Bode plot
Session 8Feedback control: System stability, Nyquist stability determination method
Session 9Feedback control: PID control
Session 10Feedback control: PID control adjustment method (marginal sensitivity method, step response method)
Session 11Modern control: Equation of state, relationship between classical control and modern control
Session 12Modern control: Controllability and observability
Session 13Modern control: State feedback control
Session 14Modern control: State observer, introduction of various control methods
＊＊This content is based on April 1, 2024. For the latest syllabus information and details, please check the syllabus information inquiry page provided by the university.＊＊