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Course10810386366 lectures

Control Engineering for Robotics

Prof. Chayan Bhawal · IIT Guwahati

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Lectures

Week 1: Mathematical Modeling of Physical Systems

  1. Lec 1: Signals and Systems Video
  2. Lec 2: Types of Systems Video
  3. Lec 3: Differential equation of a system Video
  4. Lec 4: Differential equation of an LTI system Video
  5. Lec 5: Laplace Transform Video
  6. Lec 6: Finding response using transfer function Video
  7. Lec 7: Finding transfer functions - examples Video
  8. Lec 8: Finding transfer functions - experimentally Video

Week 2: Transfer functions and Bode-plot

  1. Lec 9: Natural Response of a system Video
  2. Lec 10: Forced Response of a system Video
  3. Lec 11: Introduction to Bode Plots Video
  4. Lec 12: Bode Plots Continued Video
  5. Lec 13: Finding transfer function from frequency response Video
  6. Lec 14: Configuration of a control system Video

Week 3: Week 3: Poles, Zeros and Time-domain analysis

  1. Lec 15: Time domain analysis of standard system - I Video
  2. Lec 16: Time domain analysis of standard system - II Video
  3. Lec 17: Time domain analysis of standard system - III Video
  4. Lec 18: Time-domain specifications of second order systems Video
  5. Lec 19: Effect of poles and zeros on time-domain response Video
  6. Lec 20: Steady state error Video

Week 4: Root Locus and System Stability

  1. Lec 21: Introduction to Root Locus Video
  2. Lec 22: Rules to draw Root Locus - I Video
  3. Lec 23: Rules to draw Root Locus - II Video
  4. Lec 24: Stability Video
  5. Lec 25: Routh Hurwitz Criteron Video
  6. Lec 26: Observations on controller design using Root Locus Video

Week 5: Controller Design

  1. Lec 27: Controller design using Root Locus - I Video
  2. Lec 28: Controller design using Root Locus - II Video
  3. Lec 29: Controller design using Root Locus - III Video
  4. Lec 30: Controller design using Root Locus - IV Video
  5. Lec 31: Introduction to PID controllers Video

Week 6: PID Controllers

  1. Lec 32: PID Controller Tuning Video
  2. Lec 33: Implementation of PID controllers Video
  3. Lec 34: PID in action for systems Video
  4. Lec 35: State-space modelling of system - I Video
  5. Lec 36: State-space modelling of system - II Video

Week 7: State Space Analysis

  1. Lec 37: State-space and transfer function Video
  2. Lec 38: State-space equation to transfer function Video
  3. Lec 39: Solution of a state-space equation Video
  4. Lec 40: Finding matrix exponential Video
  5. Lec 41: Cayley-Hamilton Theorem Video
  6. Lec 42: Diagonal forms and matrix exponential Video

Week 8: State-space Analysis

  1. Lec 43: Jordan forms and matrix exponential - I Video
  2. Lec 44: Jordan forms and matrix exponential - II Video
  3. Lec 45: Linear Algebra for system theory Video
  4. Lec 46: Controllability Video
  5. Lec 47: How to check for controllability? Video

Week 9: State-feedback controllers

  1. Lec 48: State-feedback controller - I Video
  2. Lec 49: State-feedback controller - II Video
  3. Lec 50: Controllability Canonical Form Video
  4. Lec 51: State-feedback for uncontrollable systems Video

Week 10: Observability and Observers

  1. Lec 52: State-feedback control for MIMO Systems Video
  2. Lec 53: State-feedback with reference scaling Video
  3. Lec 54: Observability and Observers Video
  4. Lec 55: Observer Based Controller Video

Week 11: Optimal Control

  1. Lec 56: Decomposition of State-space Video
  2. Lec 57: Optimal Control Problems Video
  3. Lec 58: LQR Control Problem Video
  4. Lec 59: Examples of LQR Control Problem Video
  5. Lec 60: Two-Link Robotic Manipulator Video

Week 12: Drone and Robotic Arm Control

  1. Lec 61: Control of Two-Link Robotic Manipulator Video
  2. Lec 62: Working of a quadrotor Video
  3. Lec 63: Quadrotor Control - I Video
  4. Lec 64: Quadrotor Control - II Video
  5. Lec 65: Implementation of state-feedback control Video
  6. Lec 66: Conclusion Video

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IIT Guwahati
Department
Electrical Engineering
Teacher
Prof. Chayan Bhawal
Level
Undergraduate
Language
English
Subjects
Engineering
Source
NPTEL
Licence
CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
Attribution
NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge.
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