Control Systems & Robotics – Vocabulary Review

Vocabulary flashcards covering autonomy levels, control-system components, feedback concepts, time-domain specifications, stability categories, and PID control terms from the lecture notes.

5 D’s (Dollars, Dirty, Dull, Difficult, Dangerous)

Five categories of tasks often targeted for automation or robotics due to their cost, unpleasantness, monotony, complexity, or hazard to humans.

Automated System

A system with one direct capability that operates without human intervention for that specific task.

Semi-Autonomous System

A system possessing multiple automated capabilities but still requiring human input or supervision.

Autonomous System

A system capable of making decisions and acting without any human input.

Block Diagram

A high-level representation of a control system showing Input → Output and intermediate elements such as Actuator and Disturbances.

Actuator

A device in a control system that converts control signals into physical action (e.g., motion, force).

Disturbance

An external or internal factor that disrupts the desired operation of a control system.

Closed-Loop System

A feedback control configuration consisting of Input, Controller, Actuator, Plant, Disturbances, Sensor, and Output.

Plant

The physical system or process being controlled within a closed-loop setup.

Sensor

A component that measures the output of the plant and sends feedback to the controller.

Rate of Error

The numerical difference between the desired output and the achieved output in a feedback loop.

Positive Feedback

A feedback type that adds the achieved output to the desired output, often leading to instability.

Negative Feedback

A feedback type that subtracts the achieved output from the desired output, promoting stability.

Rise Time (90 % Criterion)

The amount of time it takes a system output to reach 90 % of its final value after a step input.

Peak Time

The time required for the response to reach the maximum (peak) value of its first overshoot.

Overshoot

The amount by which a system’s response exceeds its target or final steady-state value.

Steady-State Error

The difference between the desired value and the actual value after the transient effects have dissipated.

Settling Time (± 20 % Band)

The time elapsed until the system output enters and remains within ± 20 % of the final value.

Transient Response

The portion of a system’s output that reflects its reaction to a change from equilibrium before reaching steady state.

Overdamped Response

A stable system response with no oscillations and a slower return to steady state.

Underdamped Response

A stable response characterized by oscillations that gradually decrease in amplitude.

Marginally Stable (Undamped) Response

A response where oscillations persist indefinitely without growing or decaying.

Oscillating Unstable Response

An unstable response in which oscillations grow in amplitude over time.

Non-Oscillating Unstable Response

An unstable response that diverges without oscillation.

Proportional Control (Kp)

PID term that corrects error in proportion to its magnitude.

Derivative Control (Kd)

PID term that reacts to the rate of change of error, providing predictive damping.

Integral Control (Ki)

PID term that accumulates total error over time to eliminate steady-state error.

PID Controller

A control algorithm combining Proportional, Integral, and Derivative actions for precise, stable control.