Summary: Control Systems Design, SC4026
SC4026 Fall 2011, dr. A. Abate, DCSC, TU Delft
Lecture 3
· Continuation of theory of linear ODE
· Equilibria, Stability (a-la-Lyapunov, hints to BIBO)
Lyapunov techniques for stability analysis
· From continuous to discrete time: simulation of an ODE
SC4026 Fall 2011, dr. A. Abate, DCSC, TU Delft 1
Coordinate Shift, Normalization and Scaling
· Given a model, can perform basic simplifications on it
­ coordinate shift
x = f(x) : f(xe) = 0 ~x
.
= x - xe
~x = f(~x + xe)
.
= ~f(~x) : ~f(0) = 0
e.g., affine dynamics
­ reduce number of parameters and perform scaling (on time, on
variables), to improve numerical conditioning:

Source: Abate, Alessandro - Faculty of Mechanical, Maritime and Materials Engineering, Technische Universiteit Delft

Collections: Engineering