Control Engineering for Robotics

Overview

Syllabus 12

1. Week 1: Mathematical Modeling of Physical Systems
   • 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
2. Week 2: Transfer functions and Bode-plot
   • 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
3. Week 3: Week 3: Poles, Zeros and Time-domain analysis
   • 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
4. Week 4: Root Locus and System Stability
   • 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
5. Week 5: Controller Design
   • 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
6. Week 6: 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
7. Week 7: State Space Analysis
   • 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
8. Week 8: State-space Analysis
   • 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?
9. Week 9: State-feedback controllers
   • Lec 48: State-feedback controller - I
   • Lec 49: State-feedback controller - II
   • Lec 50: Controllability Canonical Form
   • Lec 51: State-feedback for uncontrollable systems
10. Week 10: Observability and Observers
    • 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
11. Week 11: Optimal Control
    • 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
12. Week 12: Drone and Robotic Arm Control
    • 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

Advantages and disadvantages

Some points apply to every course of this kind; see how we rank.

Taught by

• Prof. Chayan BhawalIIT Guwahati