Week 4

Question 1

Explain the feedback control > Bang-bang control and the problem

Answer 1

Feedback controller with binary output –> hysteresis (
peaks and valleys)

Question 2

Explain the feedback control > proportional (P) control

Answer 2

Feedback controller based on how big the error is. Increasing x = adjusting x

Question 3

Explain the feedback control > proportional-derivative (PD) control and the problem

Answer 3

Feedback controller based on how big the error is and how fast the error changes. When reaching disired outcome stop adjusting to avoid overshoot

Sensitive to systematic bias

Question 4

Explain the feedback control > proportional-integral-derivative (PID) control

Answer 4

Feedback controller based on how big the error is and how fast the error changes and total sum of error over time. When reaching disired outcome stop adjusting to avoid overshoot and give extra power when still not in line.

Question 5

What are the two most important predictors of relation between human and robot

Answer 5

1) Likability
2) Utility

3) Anthropomorphization