Preliminaries to Control

  • Wodek Gawronski
Part of the Mechanical Engineering Series book series (MES)

Before starting the controller tuning process, one has to know the criteria that the closed loop system should satisfy. Also, one has to prepare the plant model (in our case the velocity loop model) such that it is the convenient configuration for the controller tuning. This chapter defines the performance criteria used in the controller tuning process. Also, before starting the tuning process, the plant model (antenna velocity loop model) is transformed and augmented to make the tuning more straightforward, and analysis physically interpretable.

Performance Criteria

The controller performance is evaluated using the following criteria:
  • Settling time of a small step response, shown in Fig. 6.1. Settling time is defined as the time at which the antenna encoder output remains within ±3% threshold of the nominal value of the step command. For example, a 5.1 s settling time due to a 0.02 deg step command is illustrated in Fig. 6.1. The settling time indicates how fast antenna reacts to the...


Settling Time Phase Margin Wind Disturbance Loop Transfer Function Close Loop Transfer Function 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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    Athans M. (1971). On the Design of PID Controllers Using Optimal Linear Regulator Theory. Automatica, vol. 7: 643–647.Google Scholar
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    Johnson CD. (1968). Optimal Control of the Linear Regulator with Constant Disturbances. IEEE Trans. Automatic Control, vol. 13: 416–421.Google Scholar
  3. 3.
    Porter B. (1971). Optimal Control of Multivariable Linear Systems Incorporating Linear Feedback. Electronic Lett., vol. 7: 170–174.Google Scholar

Copyright information

© Springer Science+Business Media, LLC 2008

Authors and Affiliations

  • Wodek Gawronski
    • 1
  1. 1.Jet Populsion LaboratoryCalifornia Institute of TechnologyPasedenaUSA

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