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Questions tagged [control-theory]

Anything related to control theory, i.e. the branch of systems engineering studying the mathematical techniques used to make a dynamic system behave in some desirable way.

Anything related to control theory, i.e. the branch of systems engineering studying the mathematical techniques used to make a dynamic system behave in some desirable way.

See Wikipedia page on control theory.

99 questions
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PID controller integral term causing extreme instability

I have a PID controller running on a robot that is designed to make the robot steer onto a compass heading. The PID correction is recalculated/applied at a rate of 20Hz. Although the PID controller works well in PD mode (IE, with the integral term…
chris12892
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I don't understand Integral part of PID controller

I dont understand integral part of PID controller. Let's assume this pseudocode from Wikipedia: previous_error = 0 integral = 0 start: error = setpoint - measured_value integral = integral + error*dt derivative = (error - previous_error)/dt …
user561838
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Functional approaches to designing the discrete side of hybrid systems

I'm working on developing controllers for hybrid systems in Haskell. FRP libraries (right now I'm using netwire, but there are several good ones and a lot of interesting research on future ones) provide a great solution for the continuous-time side…
Doug McClean
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Python: Identifying a State Space Model for a System

I am looking to obtain a state space model for a system I have, using python. I have tested the actual system, so I have the inputs to it and I have measured the outputs. so I have sets of corresponding inputs and outputs. Is there a function…
Ahmed J
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How can I extract elements from a transfer function matrix in Octave?

I am working with Octave in the control package, and I want to take an array of transfer functions (initialized as follows) and just extract the diagonal elements of the matrix. Whenever I try to do this, I run into the following error. I have tried…
Justin T
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Gekko(python) for lap time optimization

I was wondering if it was a good idea to use Gekko to solve a lap time optimization: finding the optimal path on a track to minimize total time by controlling the steering angle and the power output. I'm fairly new to optimal control problem so if…
trimat
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Bumpless transfer in FRP

I can build a PID controller in the Haskell FRP library netwire using loop from the ArrowLoop instance provided for Wires. I can also implement switching between controllers or between a controller and a manual input using switch. How can I…
Doug McClean
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3 answers

Quadcopter PID controller

Context My task is to design and build a velocity PID controller for a micro quadcopter than flies indoors. The room where the quadcopter is flying is equipped with a camera-based high accuracy indoor tracking system that can provide both velocity…
xabre
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Creating a MIMO (multiple input multiple output) transfer function system without hardcoding the number of inputs and outputs

Introduction As part of a larger system I'm trying to create a multiple input multiple output transfer function that only links inputs to outputs on the lead diagonal*. I.e. it has non zero transfer functions between input 1 and output 1, input 2…
Richard Tingle
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PID controller - intuition for when error=0

I have simulated a PID controller with an input parameter that affects the output, and set Kp=0.2, Kp=0.5, Kd=0 which seemed to work best the values I expect in reality. However one thing I could not figure out is the intuition of how the controller…
nickb
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PID Control Loops with large and unpredictable anomalies

Short Question Is there a common way to handle very large anomalies (order of magnitude) within an otherwise uniform control region? Background I am working on a control algorithm that drives a motor across a generally uniform control region. …
Adam Lewis
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Python: Producing a graph of a module which contains a feedback mechanism

I'm fairly new to programming and I'm trying to produce a simple zero-dimensional energy balance model in Python 2.7 IDLE, to calculate surface temperatures of the Earth and have added a ice albedo feedback, i.e. if the temperature output of the …
user1275134
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Quadcopter PID Controller for distance

I am trying to use a PID controller to stop a quadcopter at a specific location while travelling horizontally, however currently it overshoots/undershoots depending on the max velocity. I have tried manually tuning the P,I and D gains with limited…
Brien Crean
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Is it possible to generate proper Root Locus Plots with Python 3?

I am trying to generate root locus plots via Python 3, but the graphs that Python produces don't seem to be complete. Here is the system to be implemented for the Root Locus; Here is my code for the Root Locus plot; import numpy as np from…
Semone Naidoo
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Negative phase margin for stable system

I want to determine the phase margin for the following transfer function: sys_ol = tf([1.225 -1.1 -0.4183 0.3977],[1 -1.36 -0.4119 0.4019 0.9352 -0.565],1) Its a discrete plant with sample time 1. By analysis of the poles I can see that the system…
DayAndNight
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