Basics Flashcards
What is a deterministic system?
It has known physical laws
What is a stochastic system?
It has unknown physical laws
Two types of disturbances
Process and Measurement noise
If measurement of a variable is involved, what needs to be modeled?
Dynamics of a sensor as a separate subsystem
What is system’s trajectory?
Plot of the state vector with time
How can be measured control angles?
By optical angle encoders
When is the system unstable in the sense of Lyapunova?
Even a small perturbation makes the system depart from the vicinity of the equilibrium.
When is the given equilibrium unstable?
System has an unstable subsystem
When does not the uncontrollable subsystem cause an issue?
When it is inherently stable.
What does Stabilizability require?
All the uncontrollable subsystems must be stable.
What is an undetectable system?
Such a system which has at least one subsystem that is both unobservable and unstable at a given equilibrium.
Why can be beneficial to deliberately add dead-zone?
It can improve closed-loop response.
Two broad categories of automatic control systems
1) Terminal Control and 2) Tracking Control
Two types of a tracking control system
1) State feedback and 2) Output feedback
How is primarily assessed the performance of a tracking CS?
By time taken to reach within desired reference trajectory, its deviation and the magnitudes of the control inputs required in the process.
