10.02 Implementing Closed Loop Control - Quiz

Section 10.2 Quiz: Implementing closed loop control

1. What are the four essential components of a closed loop control system?

   • Setpoint, sensor, controller, actuator {data-correct}
   • Input, output, processor, display
   • Motor, encoder, computer, power supply
   • Algorithm, hardware, software, user interface

2. In a proportional controller with the equation output = Kp × error, what happens when you increase the proportional gain (Kp)?

   • The system responds more slowly but more stably
   • The system responds faster but may become unstable {data-correct}
   • The steady-state error always decreases
   • The system uses less power

3. What is the main advantage of adding an integral (I) term to a proportional controller?

   • It makes the system respond faster
   • It eliminates steady-state error {data-correct}
   • It prevents overshoot
   • It reduces power consumption

4. In PID control, what does the derivative (D) term respond to?

   • The current error value
   • The accumulated error over time
   • The rate of change of the error {data-correct}
   • The setpoint value

5. Which of the following are good practices for implementing control loops in Python? (Select all that apply)

   • Use classes to encapsulate controller logic {data-correct}
   • Apply output limiting to prevent actuator damage {data-correct}
   • Include parameter management for different operating modes {data-correct}
   • Always use the highest possible gain values

6. A control system has high overshoot but reaches the setpoint quickly. Which PID parameter should you primarily adjust?

   • Increase Kp (proportional gain)
   • Increase Ki (integral gain)
   • Increase Kd (derivative gain) {data-correct}
   • Decrease the setpoint

7. What is “integral windup” in PID control?

   • When the proportional term becomes too large
   • When the derivative term oscillates
   • When the integral term accumulates to excessive values {data-correct}
   • When the controller output reaches its limit

8. In the robot arm controller example, why was a gravity compensation term included in the physics simulation?

   • To make the simulation run faster
   • To represent the real-world effect of gravity on arm positioning {data-correct}
   • To reduce the computational complexity
   • To eliminate the need for the integral term