This page contains links to introductory notes on motion control. The focus is on hydraulic systems, but the control system concepts apply equally well to other technologies (e.g. electro-mechanical, pneumatic)

Reference: Dorf & Bishop, Modern Control Systems, 12th edition, Prentice-Hall, Inc., 2011

Trademarks: MATLAB and Simulink are registered trademarks of The MathWorks, Inc. The MathWorks does not warrant the accuracy of the examples given in these notes.

#### Introduction

Introduction to Motion Control

#### Introduction to Hydraulic Actuation Systems

- Hydraulic Actuation System Components
- Simple Hydraulic Circuits
- Pressure Data Acquisition Software
- Hydraulic Positioning System I
- Hydraulic Positioning System II

#### Electro-mechanical Actuation

Armature Controlled DC Motor Transfer Functions

#### Root Locus Analysis

- What is a Root Locus Diagram?
- Using MATLAB for Root Locus Analysis
- PID Control of a Spring-Mass-Damper Position: Root Locus
- PID Control of a Hydraulic Actuator: Root Locus

#### Frequency Domain Analysis with Bode Diagrams

- Frequency Domain Analysis
- Bode Diagram of a 2nd Order System
- SMD Position Control: Analysis Summary (including Bode and Root Locus diagrams)

#### Compensator Design

- Introduction to Compensator Design
- Characteristics of Phase-Lead and Phase-Lag Compensators
- Phase Lead Compensator Design
- Frequency Response Design of a Phase Lead Compensator
- Root Locus Design of a Phase Lead Compensator
- Phase Lag Compensator Design
- Frequency Response Design of a Phase Lag Compensator
- Root Locus Design of a Phase Lag Compensator
- PID Compensator Summary
- Using Pre-filters to Obtain ITAE Optimal Response

#### Control Effort and Saturation

#### Integrator Wind-up, Saturation, and Noise Filters

#### Data Acquisition, System Identification and Simulation

- Introduction to System Identification
- MATLAB System Identification Toolbox GUI
- MATLAB System Identification Process Model GUI
- Data Acquisition Software for Step Excitation
- Hydraulic Positioning System III

#### Proportional Closed-Loop Hydraulic Actuator Control

- Closed Loop Hydraulic Positioning System
- Closed Loop Proportional Control Software for Hydraulic Actuation System

#### Digital Control of Continuous Systems

- Introduction to Digital Control of Continuous Systems
- Sampled Data
- Z Transforms and the Zero-Order-Hold
- Continuous and Equivalent Discrete Transfer Functions
- Example: Digital Phase-Lead Control of a Spring-Mass-Damper
- Weighted Sled System
- Example: Digital Phase-Lead Control of a Weighted Sled System
- Closed-Loop, Phase-Lead Control Software
- Discrete Root Locus Analysis of a Weighted Sled System

#### Differential Equations and Difference Equations

Difference Equations and Approximate Solutions to Differential Equations