17-Basic Control Theory (Half-Day, In-person)
Dr. David L. Trumper (Massachusetts Institute of Technology)
Tuesday, November 5, 2024 (1:30 PM – 5:30 PM)
This tutorial presents key principles for the design and implementation of control systems for precision machines, as well as the interaction of these controllers with the chosen system hardware. The topics covered include: PID control laws, and their implementation in analog and digital form, nonlinear effects such as integrator windup, anti-windup, PID tuning, and the limitations of PID as a controller form. We also discuss the more general concepts of loop shaping design via lead and lag compensation, and the implementation of these controllers in analog and digital form. The value of using a dynamic analyzer to measure loop shaping performance is presented. Additional topics include the effects of machine stiffness and damping on control performance, the effects and modeling of quantization and noise. Case studies provide context. Assumed prerequisites include prior experience with control systems in some form, as well as earlier exposure to dynamic systems theory, including the Laplace transform, poles/zeros, and Bode plots.
About the Instructor
Dr. David L. Trumper joined the MIT Department of Mechanical Engineering in August 1993, and holds the rank of Professor. He received the B.S., M.S., and Ph.D. degrees from MIT in Electrical Engineering and Computer Science, in 1980, 1984, and 1990, respectively. Professor Trumper’s research centers on the design of precision mechatronic systems, in topics including precision motion control, high-performance manufacturing equipment, novel measurement instruments, biomedical and bioinstrumentation devices, and high-precision magnetic suspensions and bearings. He is a member of the IEEE, ASME, and ASPE (past-President).