pid control, linear systems
Post on 15-Jan-2017
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PID control, linear systems
CS 4758
• Review of Poten<al Fields and RRTs.
• Discrete <me Linear systems: – reachability, controllability.
• Bang-‐bang controller. • PID controller. – Stability of system with P controller.
where, e(t) = x(t) – xdesired(t)
Stability of P controller.
For discrete <me linear system: The magnitude of the real part of the eigenvalues of the state transi<on matrix should be less than 1. E.g., For A = 1, and B = 1, X(t+1) = (1-‐kp) x(t) |1-‐kp| < 1 => For 0 < kp < 2, the system will be stable.
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