33_34_Vinayak_CB.EN.P2AEL17025.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Loop shaping"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<iframe width=\"560\" height=\"315\" src=\"https://www.youtube.com/embed/sfNwLmgK5sE\" frameborder=\"0\" allow=\"autoplay; encrypted-media\" allowfullscreen></iframe>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%%HTML youtube video link\n",
    "<iframe width=\"560\" height=\"315\" src=\"https://www.youtube.com/embed/sfNwLmgK5sE\" frameborder=\"0\" allow=\"autoplay; encrypted-media\" allowfullscreen></iframe>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "$\n",
    "L=P*K \n",
    "$<br>\n",
    "$\n",
    "S=(I+L)^{-1} \n",
    "$<br>\n",
    "$\n",
    "T=(I+L)^{-1} \n",
    "$<br>\n",
    "$\n",
    "S+T=I\n",
    "$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Goals of Feedback\n",
    "\n",
    "- Stability\n",
    "\n",
    "- Uncertainity Compensation\n",
    " \n",
    "- Disturbance rejection\n",
    "\n",
    "- Noise Attenuation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "$Ym=(((I+P*K)^{-1})* P*K*r)+(((I+P*K)^{-1} )*Pd*d )- (((I+P*K)^{-1} )*P*K*n)$\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "$e=r - Ym$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "$e=S*r-S*Pd*d+T*n$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "source": [
    "#loop shaping in Cruise control"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "$P(s)=1/(s+1)$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Ideally\n",
    "\n",
    "$L=P*K=1/s$\n",
    "\n",
    "Arbitrarly\n",
    "\n",
    "$((1/(s+1)K=10/s$\n",
    "\n",
    "$K=10(s+1)/s$\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<iframe width=\"560\" height=\"315\" src=\"https://www.youtube.com/embed/fkYcCCujOjc\" frameborder=\"0\" allow=\"autoplay; encrypted-media\" allowfullscreen></iframe>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%%HTML youtube video link\n",
    "<iframe width=\"560\" height=\"315\" src=\"https://www.youtube.com/embed/fkYcCCujOjc\" frameborder=\"0\" allow=\"autoplay; encrypted-media\" allowfullscreen></iframe>\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "$Closed loop System$"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "$Figure shown below$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "C:/Users/Admin/Desktop/UPYTER PRESE1/controller.jpg",
      "text/plain": [
       "<IPython.core.display.Image object>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\n"
   ]
  },
  {
   "attachments": {
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    }
   },
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "![controller.jpg](attachment:controller.jpg)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.1"
  }
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 "nbformat": 4,
 "nbformat_minor": 2
}