Res.6-007 Signals and Systems
Res.6-007 Signals and Systems (MIT OCW). This consists of 26 video lectures given by Prof. Alan V. Oppenheim, providing an introduction to analog and digital signal processing. The course presents and integrates the basic concepts for both continuous-time and discrete-time signals and systems. Signal and system representations are developed for both time and frequency domains. These representations are related through the Fourier transform and its generalizations, which are explored in detail. Filtering and filter design, modulation, and sampling for both analog and digital systems, as well as exposition and demonstration of the basic concepts of feedback systems for both analog and digital systems, are discussed and illustrated. (from ocw.mit.edu)
| Lecture 26 - Feedback Example: The Inverted Pendulum |
Analysis of the open loop system and exploration of choices for the feedback dynamics; Behavior description through a second-order linear constant-coefficient differential equation; Root-locus analysis; Combination of proportional and derivative feedback to achieve pendulum stability; Demonstration: inverted pendulum on a track, effect of modifying dynamics, effect of modifying damaging characteristics.
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