控制系统指南

引言

本页面目前只有英文版，由我(automaticdai)早期整理而成。我会逐步翻译成中文，同时欢迎贡献该条目。

控制理论介绍

Control theory is an interdisciplinary branch of engineering and mathematics that deals with the behavior of dynamical systems with inputs, and how their behavior is modified by feedback [1].

The objective of control theory is to design a controller so that the system has some desired characteristics. Typical objectives are [2]:

Stabilization
Regulation
Tracking
Disturbance rejection

控制理论结构图

该图描述了控制理论的体系结构，由 @系统与控制创作并授权使用。

Feedback Control Approach

Establish control objectives
- Qualitative
- Quantitative: step response time
- Require understanding of expected commands, disturbances and bandwitdh
- Require understanding of physical dynamics and appropriate control method
Select sensors and actuators
- What aspect to be sensed and controlled?
- Sensor noise, cost, reliability, size ...
Obtain system model
- First principle or system identification
- Evaluation model -> reduce size and complexity
- Accuracy? Error model?
Design controller
- SISO or MIMO?
- Classical or state-space?
- Choose parameters (rule-of-thumb or optimization)
Analyze closed-loop performance
- Does closed loop meet objectives?
- Analysis, simulation, experimentation and iterate.

Analysis

Frequency Domain Analysis
- Gain margin
- Phase margin
Time Domain Analysis
- Rising Time
- Peak Time
- Steady-state Time

Declaration

This document includes basic descriptions and implementations of a Control System. The materials covered are: system modelling, controller design, classical control theory, modern control theory and C/Matlab/Simulink implementations.

This wiki site is maintained by myself at an irregularly base. Contents might be inconsistent when I am working on them. Please use it with caution as I assume no other user than myself would be using this website.

参考资料

Control Theory - Wikipedia
Jonathan How and Emilio Frazzoli. 16.30 Feedback Control Systems. Fall 2010. MIT OpenCourseWare