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Back to the lesson libraryMECHANISM · 13 MIN
M30.2 CONNECT THE MECHANISM

Correct motion using measured error

Tidy's lift stops 0.08 ft short of the shelf every time, and turning up the gain makes it bounce. Three small terms, P, I, and D, explain both.

LESSON OVERVIEW13 min lesson

Lesson overview

Tidy's lift stops 0.08 ft short of the shelf every time, and turning up the gain makes it bounce. Three small terms, P, I, and D, explain both.

What you’ll explore

  • Contrast open- and closed-loop control, compute a PID output by hand, explain steady-state error, overshoot, and integral windup, and describe how model predictive control plans over a horizon and replans.
GO TO THE SOURCE

Original explanations, connected to the research.

Modern Robotics — authors’ textbook and resourcesFeedback Systems: An Introduction for Scientists and Engineers (Åström & Murray), free online edition
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