Content, progress and pedagogy of the module

Students who complete the module should have knowledge about basic control methodologies and be able to apply them to simple robotic control tasks.

Learning objectives

Knowledge

• Must be able to explain the key functionality and system properties provided by a control system
• Must be able to explain input/output systems with disturbances and measurement noise
• Must be able to account for MIMO and SISO systems.
• Must be able account for the key differences between feed forward and feed back control
• Must be able to account for the concepts of stability and instability, including the concepts of poles and zeros for linear systems, the Nyquist stability criterion and root loci

Skills

• Must have the ability to identify inputs, outputs and sources of disturbance in a simple robot control system
• Must have the ability to design simple robot control systems based on the acquired knowledge
• Must be able to apply stability analysis to simple robot control systems
• Must be able to apply control design techniques based on open loop characteristics including phase and gain margins
• Must be able to explain PID controllers and apply tuning

Competences

• Must have the ability to apply relevant terminology from automatic control in the description of robot problems and solutions
• Must have the ability to systematically develop simple control system solutions

Exam

Exams