Courses / control

CS-1 Classical Control for Robots

intermediate~14 hours14 lessonsEnvironment: pyodide
Start: From robot to ODE: the motor-and-load modelPractice questions

Modules

Module 1 — Modeling motion
  1. 1From robot to ODE: the motor-and-load model
  2. 2Transfer functions: the Laplace shortcut
  3. 3Poles as personality: damping, natural frequency, and the response zoo
Module 2 — PID in anger
  1. 1Proportional control and its ceiling
  2. 2PI: killing steady-state error, meeting windup
  3. 3PID complete: derivative action and the noise it invites
  4. 4Tuning in practice: Ziegler–Nichols, manual tuning, anti-windup, 50 Hz discrete PID
Module 3 — Stability & margins
  1. 1When feedback goes wrong: instability from first principles
  2. 2Bode plots, gain margin, phase margin
  3. 3Latency is phase loss: why your servo oscillates
Module 4 — Digital reality
  1. 1Sampling and the zero-order hold: Nyquist for control
  2. 2Discretization traps: Euler vs Tustin
  3. 3Quantization, encoder resolution, and measurement noise
  4. 4Capstone: PID balance of a 1-DOF pendulum with injected latency and noise

Textbooks

Video resources

  • Control Systems Lectures — Brian Douglas