1
00:00:00,180 --> 00:00:08,130
‫But you one is only one system input, we have three system inputs more, and by the way, control action

2
00:00:08,130 --> 00:00:10,170
‫and system input are the same thing.

3
00:00:10,200 --> 00:00:12,540
‫Again, just the terminology.

4
00:00:12,840 --> 00:00:22,170
‫So here you see how role control action, which is now a talk, which means that its unit is Knewton

5
00:00:22,170 --> 00:00:22,770
‫meters.

6
00:00:23,130 --> 00:00:26,940
‫Here you can see how role control action is generated.

7
00:00:26,940 --> 00:00:31,020
‫More one and more three rotate at the same rate.

8
00:00:31,290 --> 00:00:41,520
‫More or two increases its rotation a bit by Delta A radians per second and more four decreases its angular

9
00:00:41,520 --> 00:00:45,150
‫rotation by Delta B radians per second.

10
00:00:45,300 --> 00:00:49,950
‫That creates a talk about the body frame x axis.

11
00:00:50,580 --> 00:00:57,210
‫That torque is our role control action and we're going to call it Yuta.

12
00:00:57,390 --> 00:01:00,570
‫And it's units are Knewton meters.

13
00:01:00,720 --> 00:01:10,290
‫Assuming no other talks around you creates angular acceleration phy double dot around the body frame

14
00:01:10,290 --> 00:01:11,220
‫x axis.

15
00:01:11,220 --> 00:01:19,980
‫And in the previous case we had small Z double dot, which was linear acceleration.

16
00:01:19,980 --> 00:01:24,090
‫So its unit was meter per second squared.

17
00:01:24,690 --> 00:01:32,940
‫Now angular acceleration five double that unit is radians per second squared because it's angular acceleration.

18
00:01:33,360 --> 00:01:38,790
‫The relationship between you two and fine double that is very simple.

19
00:01:39,150 --> 00:01:48,930
‫You two equals the mass movement of inertia about the body frame x axis times five double knot.

20
00:01:49,140 --> 00:01:55,980
‫And remember, mass movement of inertia is resistance to angular acceleration.

21
00:01:56,310 --> 00:01:59,910
‫The bigger it is, the harder it is to rotate the body.

22
00:02:00,660 --> 00:02:05,610
‫Two is also something that the controller will find.

23
00:02:05,820 --> 00:02:13,560
‫So if this is the plant and this is our controller, then our controller, instead of finding rotational

24
00:02:13,560 --> 00:02:23,190
‫velocities of the propellers instead it will give us you one, you two, then you three.

25
00:02:23,670 --> 00:02:29,490
‫And you for all these things will be found by our controller.

26
00:02:29,820 --> 00:02:35,190
‫And then in the plant we will find a way how to go from you.

27
00:02:35,190 --> 00:02:40,230
‫One, two, three, four, to the rotational velocities of the propellers.