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