Robotics 1 Feedback Control Quiz

Question 2: Which of the following correctly describes the meaning of 'peak time'?

Question 3: Which of the following correctly describes the meaning of 'overshoot'?

Question 4: Shown here is a step response. How much percent overshoot is there? Just enter a number; don't enter the percent sign.

Question 5: For the step response in Question 4, what is the rise time, in units of milliseconds? Approximate to the nearest millisecond.

Question 6: For the step response in Question 4, what is the peak time, in units of milliseconds? Approximate to the nearest millisecond.

Question 7: For the step response in Question 4, what is the settling time, in units of milliseconds? Approximate to the nearest millisecond.

Question 8: For the step response in Question 4, what is the steady-state error, in units of centimeters? Approximate to the nearest centimeter.

Question 9: Which of the following correctly describes a 'critically-damped' system?

Question 10: This is the last quiz question of this WHOLE CLASS! In this whole class up until this point, what do you think was the hardest thing to learn? You don't have to answer this, but I use the answers to this question to decide what are my priorities to change for the next class.

Undergraduate/Graduate Questions (both undergraduates AND graduates should answer these questions):

Question 11: Suppose that I have a system that I am controlling with proportional control, and I have set Kp=1, and have determined that this system is a second-order system that has a damping ratio of 0.4, a natural frequency of 100 rad/s, and a gain of 1. Which of these equations is the transfer function of the system?

Question 12: Suppose that I would like the system in Question 11 to have a damping ratio of 0.7. What value should I set for Kp?

Question 13: For the system in Question 11, What value of Kp will give me a critically-damped system?

Question 14: What will be the natural frequency of the system in Question 11 when it is critically damped?

Question 15: I can expect that the value of Kp calculated in Question 13 will be only approximate when I apply it to my actual system. Which of these explains some of the reasons for the discrepancy?

Question 1: Which of the following correctly describes the meaning of 'rise time'?

The amount of time from when the response starts until the first peak

The amount of time from when the response starts until it first crosses the target value

The amount of time from when the response starts until the last peak

The amount of time from when the response starts until it last crosses the target value

The amount of time from when the response starts until the first peak

The amount of time from when the response starts until it last crosses the target value

The amount of time from when the response starts until the last peak

The amount of time from when the response starts until it first crosses the target value

The amount that the response exceeds its starting value, divided by the starting value

The amount that the response exceeds its target value, divided by the target value

Graduate Questions (ONLY graduates need to answer these questions):

A critically-damped system is any system that exhibits no oscillations.

A critically-damped system is one that maximizes speed and accuracy at the expense of stability.

A critically-damped system is one that is as fast as it can be, given that there is no overshoot.

A critically-damped system is one that has as few oscillations as is acceptable in a particular application.

In our analytical approach, we can only have a proportional controller (Kp). But, in reality we might want a more complex controller like PI, PD, or PID. Our analytical methods won't work with these other controllers.

In our analytical approach, we are assuming that the plant is perfectly linear. But, the real plant has nonlinearities such as static and dynamic friction. Also, our analytical controller design methods assume that the control loop operates infinitesly fast. But, in reality, executing one control loop takes a finite amount of time.

Our analytical methods will only work for first-order or second-order systems. But, real systems might be third-order or higher. So, our analytical methods won't work for these systems.