Update Content - 2021-05-12

content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md

@@ -8,7 +8,7 @@ Tags
 : [Reference Books]({{< relref "reference_books" >}}), [Dynamic Error Budgeting]({{< relref "dynamic_error_budgeting" >}})
 
 Reference
-: ([Schmidt, Schitter, and Rankers 2020](#orga3e0eb9))
+: ([Schmidt, Schitter, and Rankers 2020](#org6f01bfb))
 
 Author(s)
 : Schmidt, R. M., Schitter, G., & Rankers, A.
@@ -16,10 +16,6 @@ Author(s)
 Year
 : 2020
 
-<a id="org6af53e1"></a>
-
-{{< figure src="/ox-hugo/schmidt20_high_low_freq_regions.png" caption="Figure 1: Stabiliby condition and robustness of a feedback controlled system. The desired shape of these curves guide the control design by optimising the lvels and sloppes of the amplitude Bode-plot at low and high frequencies for suppression of the disturbances and of the base Bode-plot in the cross-over frequency region. This is called **loop shaping design**" >}}
-
 
 ## 2 Applied Physics in Mechatronic Systems {#2-applied-physics-in-mechatronic-systems}
 
@@ -68,9 +64,9 @@ Year
 
 #### 2.2.1 Electric Field {#2-dot-2-dot-1-electric-field}
 
-<a id="org8afa20a"></a>
+<a id="org746dcba"></a>
 
-{{< figure src="/ox-hugo/schmidt20_electrical_field.svg" caption="Figure 2: Charges have an electric field" >}}
+{{< figure src="/ox-hugo/schmidt20_electrical_field.svg" caption="Figure 1: Charges have an electric field" >}}
 
 
 ##### 2.2.1.1 Potential Difference and Capacitance {#2-dot-2-dot-1-dot-1-potential-difference-and-capacitance}
@@ -378,6 +374,23 @@ Year
 
 ### 3.5 Summary on Dynamics {#3-dot-5-summary-on-dynamics}
 
+<summary>
+In this chapter some important lessons have been learned, which are summarised as follows:
+
+-   Stiffness, whether it is created mechanically or by means of a control system, is determinative for precision
+-   Every mechanical structure can be modelled as a combination of bodies, springs and dampers, either as separate bodies or as finite elements within a body
+-   Phase is prominent factor regarding the possibility to control the motion of a mechanical system
+-   The quality factor \\(Q\\) and damping ratio \\(\xi\\) are inverse proportional. Each have their practical value.
+-   A damping placed in parallel with a lumped mass-spring system limits the magnitude of the resonance at the natural frequency.
+    However, it also increases the transmissibility at frequencies above the native frequency.
+-   The dynamic behavior of a complex system and its response to a stimulus can be derived and understood by viewing it as a superposition of contributions of its eigenmodes, each with its own mode-shape, eigenfrequency, modal parameters and damping.
+-   The position of the actuator and the sensors determine the observability and controllability of the different eigenmodes, which is characterised by four typical frequency response.
+-   A precision design requires a careful lay-out of all elements, considering the eigenmodes.
+-   Modal analysis is a powerful and widely applied tool to investigate the dynamics of a mechanical structure.
+
+Finally it can be concluded, that these insights help in designing actively controlled dynamic motion systems with optimally located actuators and sensors, which reduce the sensitivity for modal dynamic problems.
+</summary>
+
 
 ## 4 Motion Control {#4-motion-control}
 
@@ -387,6 +400,8 @@ Year
 
 ### 4.1 A Walk around the Control Loop {#4-dot-1-a-walk-around-the-control-loop}
 
+{{< figure src="/ox-hugo/schmidt20_walk_control_loop.svg" >}}
+
 
 #### 4.1.1 Poles and Zeros in Motion Control {#4-dot-1-dot-1-poles-and-zeros-in-motion-control}
 
@@ -593,6 +608,16 @@ Year
 
 ### 4.7 Conclusion on Motion Control {#4-dot-7-conclusion-on-motion-control}
 
+<summary>
+Motion control is essential for Precision Mechatronic Systems and consists of two complementary elements:
+
+-   **Extremely accurate Feedforward Control** is required when the motion system must execute a user defined motion to within maximum user defined position error limits.
+    The forces required for this task are known upfront and can generally not be generated by feedback control only given the limited allowable position error and physical limitations on achievable loop-gain of feedback control.
+-   **High Performance Feedback Control** is required when the motion system must be able to follow an unknown motion of a target, stabilize an otherwise unstable system and reduce the impact of disturbing forces and vibrations, such that the position error remains below a maximum user defined level.
+    Due to the fact that a feedback controller can become unstable, sufficient robustness must be guaranteed.
+    These is a conflicting relation between stability and performance.
+</summary>
+
 
 ## 5 Electromechanic Actuators {#5-electromechanic-actuators}
 
@@ -1531,4 +1556,4 @@ Year
 
 ## Bibliography {#bibliography}
 
-<a id="orga3e0eb9"></a>Schmidt, R Munnig, Georg Schitter, and Adrian Rankers. 2020. _The Design of High Performance Mechatronics - Third Revised Edition_. Ios Press.
+<a id="org6f01bfb"></a>Schmidt, R Munnig, Georg Schitter, and Adrian Rankers. 2020. _The Design of High Performance Mechatronics - Third Revised Edition_. Ios Press.