First Principles & Classical Tools
Connect physical models, diagrams, and approximations to controller design.
Foundational Tools
Mechanical models
Masses, springs, dampers, pendulums, vehicles, and robotics.
Electrical models
Circuits, motors, power converters, and sensors.
Process-control models
Tanks, reactors, heat exchangers, distillation columns, and transport delays.
Robotics & vehicle models
Kinematics, rigid-body dynamics, tire/ground interaction, and actuator dynamics.
Aerospace & pointing models
Satellite attitude, antenna azimuth, aircraft landing, and servomotor dynamics.
Power-system models
Generator, grid-interconnection, and topology identification examples.
Precision motion models
Flexible structures, disk-drive servos, voice-coil actuators, runout, and amplifier saturation.
Linearization
Connects nonlinear first-principles models to linear design workflows.
Transfer functions
Connect physical equations to classical feedback design.
Block diagrams
Organize plant, controller, actuator, sensor, reference, disturbance, and noise paths.
Safety constraints
Define forbidden states, operating envelopes, and acceptable risk.