Learn · Control Engineering for Robotics
Lecture 33 of 66Week 6: PID Controllers
Lec 33: Implementation of PID controllers
Prof. Chayan Bhawal · IIT Guwahati
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- Control Engineering for Robotics, IIT Guwahati (at NPTEL)
- Licence
- CC BY-NC-SA, as NPTEL states it. Non-commercial use only.
- Attribution
- NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge.
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All the lectures
- Lec 1: Signals and Systems
- Lec 2: Types of Systems
- Lec 3: Differential equation of a system
- Lec 4: Differential equation of an LTI system
- Lec 5: Laplace Transform
- Lec 6: Finding response using transfer function
- Lec 7: Finding transfer functions - examples
- Lec 8: Finding transfer functions - experimentally
- Lec 9: Natural Response of a system
- Lec 10: Forced Response of a system
- Lec 11: Introduction to Bode Plots
- Lec 12: Bode Plots Continued
- Lec 13: Finding transfer function from frequency response
- Lec 14: Configuration of a control system
- Lec 15: Time domain analysis of standard system - I
- Lec 16: Time domain analysis of standard system - II
- Lec 17: Time domain analysis of standard system - III
- Lec 18: Time-domain specifications of second order systems
- Lec 19: Effect of poles and zeros on time-domain response
- Lec 20: Steady state error
- Lec 21: Introduction to Root Locus
- Lec 22: Rules to draw Root Locus - I
- Lec 23: Rules to draw Root Locus - II
- Lec 24: Stability
- Lec 25: Routh Hurwitz Criteron
- Lec 26: Observations on controller design using Root Locus
- Lec 27: Controller design using Root Locus - I
- Lec 28: Controller design using Root Locus - II
- Lec 29: Controller design using Root Locus - III
- Lec 30: Controller design using Root Locus - IV
- Lec 31: Introduction to PID controllers
- Lec 32: PID Controller Tuning
- Lec 33: Implementation of PID controllers
- Lec 34: PID in action for systems
- Lec 35: State-space modelling of system - I
- Lec 36: State-space modelling of system - II
- Lec 37: State-space and transfer function
- Lec 38: State-space equation to transfer function
- Lec 39: Solution of a state-space equation
- Lec 40: Finding matrix exponential
- Lec 41: Cayley-Hamilton Theorem
- Lec 42: Diagonal forms and matrix exponential
- Lec 43: Jordan forms and matrix exponential - I
- Lec 44: Jordan forms and matrix exponential - II
- Lec 45: Linear Algebra for system theory
- Lec 46: Controllability
- Lec 47: How to check for controllability?
- Lec 48: State-feedback controller - I
- Lec 49: State-feedback controller - II
- Lec 50: Controllability Canonical Form
- Lec 51: State-feedback for uncontrollable systems
- Lec 52: State-feedback control for MIMO Systems
- Lec 53: State-feedback with reference scaling
- Lec 54: Observability and Observers
- Lec 55: Observer Based Controller
- Lec 56: Decomposition of State-space
- Lec 57: Optimal Control Problems
- Lec 58: LQR Control Problem
- Lec 59: Examples of LQR Control Problem
- Lec 60: Two-Link Robotic Manipulator
- Lec 61: Control of Two-Link Robotic Manipulator
- Lec 62: Working of a quadrotor
- Lec 63: Quadrotor Control - I
- Lec 64: Quadrotor Control - II
- Lec 65: Implementation of state-feedback control
- Lec 66: Conclusion