L1: Introduction

Lecture slides: Introduction2024.pdf Download Introduction2024.pdf

 

Reading Assignments: 

Chapter 1.4-1.5 in Åström-Murray "Feeback Systems" Links to an external site.

Report about Nichols diagrams Download Nichols diagrams

 

Extra material:

 

Schuler tuning and gyro control

• The story of 84 minutes Links to an external site.
• Åström, A Schuler-tuned Three-Gyro Platform System, (1960) Links to an external site.

 

Raibert's Hopper

• Robot Hall of Fame - Raibert's Hopper Links to an external site.
• Early movie from the Leg Laboratory Links to an external site.
• Lecture analysing the Raibert Hopper Control Laws Links to an external site. (the law is described at 10min-17min in)

 

HVDC Systems

• Royal Swedish Academy of Engineering Sciences, A tribute to Uno Lamm - the “Father of High Voltage Direct Current, HVDC" (historical description) Links to an external site.
• Erik Möllerstedt, Out of Control because of Harmonics, IEEE Control Systems Magazine (2000) Links to an external site. and PhD thesis
• Henrik Sandberg, Frequency domain analysis of Linear Time-Periodic Systems IEEE TAC (2005)

 

Pendulum Swingup by Energy Control

• Åström and Furuta, Swinging up a Pendulum by Energy Control, Automatica, 2000

 

Anti-sloshing Motion Control

• Grundelius, Methods for Control of Liquid Slosh, PhD thesis 2001

 

Control in Mobile Phones

• Bernhardsson, Control in Mobile Phones, IEEE Control Systems Society 2012 Links to an external site.

 

The impact of Control Technology

• Success stories for control Links to an external site.

 

Event-based Sampling and Control

• Johan Nilsson, Realtime Control Systems with Delays, PhD Thesis 1998 and Automatica Paper 1998 Links to an external site.
• Åström, Bernhardsson,Comparison of Riemann and Lebesgue sampling for first order stochastic systems, 2002 Links to an external site.