Week 08
Servo Control and Integral Action
I use the saved simulation video as a starting point to revisit state-space control, observers, and digital control.
What I connect in this unit
Servo control targets reference tracking, and augmenting an integral state of output error can reject constant disturbances and remove offset. The augmented system's controllability and actuator saturation must then be reconsidered.
Concept map
- Reference tracking
- Integral state
- Disturbance rejection
- Steady-state error
Technical anchor
Add ξ'=r-y and form the augmented model for [x;ξ]. In the u=-Kx-Kiξ block diagram, distinguish where the reference and disturbance enter.
How I review it
Consider a reference step and a constant plant-input disturbance separately, compare output error with the integral state, and check whether integration should continue during saturation.
Connection to the full course
Unit 8 of 12. This study sequence connects the system flow visible in the video with standard control topics; it is not a claim about lecture weeks.