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Description

This lecture discusses the addition of a reference input to a controller, focusing on the impact on the system and controller dynamic equations. It explores the selection of parameters to ensure zero tracking error and the design of controllers and estimators for closed-loop systems. The lecture also covers the use of autonomous and tracking-error estimators, highlighting their differences and implications on system behavior.

Instructors (2)

Official source

https://mediaspace.epfl.ch/media/0_if3zhqkg

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Related lectures (32)

Related concepts (32)

Linear–quadratic regulator

The theory of optimal control is concerned with operating a dynamic system at minimum cost. The case where the system dynamics are described by a set of linear differential equations and the cost is described by a quadratic function is called the LQ problem. One of the main results in the theory is that the solution is provided by the linear–quadratic regulator (LQR), a feedback controller whose equations are given below. LQR controllers possess inherent robustness with guaranteed gain and phase margin, and they also are part of the solution to the LQG (linear–quadratic–Gaussian) problem.

Estimator

In statistics, an estimator is a rule for calculating an estimate of a given quantity based on observed data: thus the rule (the estimator), the quantity of interest (the estimand) and its result (the estimate) are distinguished. For example, the sample mean is a commonly used estimator of the population mean. There are point and interval estimators. The point estimators yield single-valued results. This is in contrast to an interval estimator, where the result would be a range of plausible values.

Celestial pole

The north and south celestial poles are the two points in the sky where Earth's axis of rotation, indefinitely extended, intersects the celestial sphere. The north and south celestial poles appear permanently directly overhead to observers at Earth's North Pole and South Pole, respectively. As Earth spins on its axis, the two celestial poles remain fixed in the sky, and all other celestial points appear to rotate around them, completing one circuit per day (strictly, per sidereal day).

Bias of an estimator

In statistics, the bias of an estimator (or bias function) is the difference between this estimator's expected value and the true value of the parameter being estimated. An estimator or decision rule with zero bias is called unbiased. In statistics, "bias" is an property of an estimator. Bias is a distinct concept from consistency: consistent estimators converge in probability to the true value of the parameter, but may be biased or unbiased; see bias versus consistency for more.

Geographical pole

A geographical pole or geographic pole is either of the two points on Earth where its axis of rotation intersects its surface. The North Pole lies in the Arctic Ocean while the South Pole is in Antarctica. North and South poles are also defined for other planets or satellites in the Solar System, with a North pole being on the same side of the invariable plane as Earth's North pole. Relative to Earth's surface, the geographic poles move by a few metres over periods of a few years.