# Glossary

Let's be real, the nomen clature around control theory is incredibly intimidating at first; it should't be like this. Also this is not in alphabetical order lol.

Reference - The target position we would like to be at. This is often used interchangably with other terms such as set point or target.

Gain - A value we multiply by another value. In a PID controller Kp, Ki, and Kd are "gains"

Feedback - a process where given a measurement and a desired state we calculate the best input to reach the state. A synonym for closed-loop control

Feedforward - a process where given just a desired state we calculate the best input to reach the state. A synonym for open-loop control

PID control - A type of feedback control with three main components. A proportional, an integral, and a derivative.

Integral - the sum of a signal over time

Derivative - the rate of change of a singal

Full State Feedback - a feedback control method that is basically just a bunch of proportional controllers strapped together.

State - where our system currently is, usually a combination of position / velocity.

RoadRunner - A library for

*FIRST*Tech Challenge that incorperates a ton of really powerful control techniques. It has built in localization (using drive encoders or dead wheels), trajectory generation, and trajectory following algorithmsPath - a set of points that makes up where our robot should be in space. Usually traversed through by the robots current position.

Trajectory - a set of position and velocity points, usually indexed by the given time.

State machine - a way to code your robots that emulates asynchronous behavior but without the side effects.

Last updated