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EECE 460 : Control System DesignJanuary 2012
Guy A. Dumont
UBC EECE
Introduction
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 1 / 24
Contents
Contents
Practical informationYour instructorCourse goals
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 2 / 24
Practical Information
Practical Information
Lectures on Tuesday and Thursday 12h30 - 14h00 MCLD 202Instructor: Guy A. Dumont
Tel: 822-2336Email: [email protected] hours:
Teaching Assistant: Pedram AtaeeEmail: [email protected]
Performance assessment3 midterm exams 25% each1 Matlab project on PID tuning 25%
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 3 / 24
Practical Information
Practical Information
TextbookG.C. Goodwin, S.F Graebe and M.E. Salgado, Control SystemDesign, Prentice Hall, 2001
Useful books:T. Glad, L. Ljung, Control Theory, Taylor and Francis,2000K.J. Åström, T. Hägglund, PID Control, ISA Press, 2006
Course websitehttp://courses.ece.ubc.ca/460Contains general information, lecture notes, homework, additionalresources
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 4 / 24
Your Instructor...
Education and Experience
1973: Diplôme d’Ingénieur Arts et Métiers, Paris1977: PhD, Electrical Engineering (Control), McGill University1977-1979: Control Engineer, Tioxide, France1979-1989: Head, Control Engineering Section, Paprican,Montreal and Vancouver1989-Present: Professor EECE, UBC
1989-1999: NSERC/Paprican Industrial Research Chair2000-2002: Associate Dean Research, APSC2003-Present: Distinguished University Scholar2006-2010: Director, Pulp and Paper Centre2008-Present: Associate Member, UBC Dept. of Anesthesia,Pharmacology and Therapeutics2011-2012: Peter Wall Distinguished Scholar in Residence
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 5 / 24
Your Instructor...
Research
Adaptive Control, predictive control, system identification, controlof distributed parameter systems, control performance monitoring,signal processing, wavelet analysisApplications to process industries, particularly pulp and paperBiomedical applications of control and signal processing:automatic drug delivery, closed-loop control of anesthesia,physiological monitoring in the OR and ICU, modelling andidentification of physiological systems (cardiovascular system,circadian rhythms), biosignal processing (EEG, ECG, etc...),detection of epileptic seizures, identification of the dynamics of theautonomic nervous system, technology for global health
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 6 / 24
Your Instructor...
Current Collaborations
IndustryHoneywellAndritz AutomationFPInnovationsCleveland Medical DevicesDräger Medical AGGE HealthcarePulsar Informatics
AcademiaUBC Departments: Mat. Eng; Chem Eng; Anesthesia,Pharmacology and Therapeutics; PediatricsVGH; St Paul’s; BC Women’s and Children’s Hospital; BC CancerAgencyMcGill Douglas Hospital Centre for Study and Treatment ofCircadian RhythmsINSA Lyon; Université J. Fourier, Grenoble, FranceHopital Foch, Paris, France. Hopital Erasme, Brussels, Belgium.
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 7 / 24
Motivation
What is control anyway?
What is control?Control is essentially the use of feedback in engineered systems
Feedback plays a crucial role in both the natural and theengineered worldThe concept of feedback is central to control theory
The basic feedback loop consists of sensing, computation andactuation
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 8 / 24
Motivation
Cruise Control
from Åström and Murray, Analysis and Design of Feedback Systems
Stability: system maintains desired operating point (hold steadyspeed)Performance: system responds rapidly to changes (accelerate to65 mph)with minimal overshootRobustness: system tolerates perturbations in dynamics (mass,drag, etc)
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 9 / 24
Motivation
Do I really need this stuff?
Control is a key-enabling technologyUsed whenever a physical variable is required to either stay at aspecific value or to follow a desired trajectory.More and more, control is mission-critical, i.e. systems cannot beoperated without it
Murray et al., "Future directions in control in an information-rich world", IEEEControl Systems Magazine, April 2003
"The panel believes that control principles are now a required part ofany educated scientist’s or engineer’s background..."
See the recent report "The Impact of Control Technology"produced by the IEEE Control Systems Society and freelyavailable at http://ieeecss.org/main/IoCT-report
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 10 / 24
Applications of Control
Control is Ubiquitous
Control is used extensively in industry to run plants efficiently,economically and with the least environmental impact whileproducing products with stringent quality specificationsMost modern plants cannot properly or safely without controlsystemsConcept of agile plantsAlthough control is ubiquitous and essential technology, it isgenerally not visible to the end-user.For this, it has been called the Hidden Technology
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 11 / 24
Applications of Control
Aerospace/Aeronautics
Control technology was key to the success of the Apollo programThis led to more efficient and safer aircrafts.Digital fly-by-wire technology has become standard oncommercial aircrafts
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 12 / 24
Applications of Control
Process Control
Control is required for plants to operate optimallyControl is key to energy efficiencyProportional-Integral-Derivative (PID) control still the workhorse ofprocess controlHowever, significant economic benefits usually require advancedcontrol such as model predictive control (MPC)Domain knowledge is key to successful applications
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 13 / 24
Applications of Control
Automotive
Control is pervasive in today’s automobilesEmission control systemsNew engines are mechatronic designsAntilock Braking Systems (ABS)Electronic Stability Control (ESC)Active suspensionSelf-parkingCollision avoidance systemsElectrice vehicles (EV’s) and Hybrid Electric Vehicles (HEV’s) relyheavily on control
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 14 / 24
Applications of Control
Energy Systems
Solar and wind energy require advanced control for efficient andreliable operationUncertainty and intermittency of wind and solar power causemajor challengesSmart grids with increased controllability and responsiveness
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 15 / 24
Applications of Control
Biological Systems
Applications of control in medicine are not as established and thefield is not as mature as othersCardiac assist devicesControlled drug deliveryAnesthesia deliveryBlood glucose control: artificial pancreasVariabliity represents a major challenge
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 16 / 24
Applications of Control
A Variety of Applications
On a number of devices, control is used to obtain performancethat would simply not be attainable otherwise
Hard disc drivesCD, DVD playersAircraft autopilotsAutomotive applications: ABS, combustion control, activesuspension, self-parkingProsthetics, implantable devices
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 17 / 24
Control is Everywhere!
Feedback: Essential to Life!
M. B Hoagland and B Dodson. The Way Life Works. Times Books,1995‘Feedback is a central feature of life. The process of feedback governshow we grow, respond to stress and challenge, and regulate factorssuch as body temperature, blood pressure, and cholesterol level.Themechanisms operate at every level, from the interaction of proteins incells to the interaction of organisms in complex ecologies.’
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 18 / 24
Control is Everywhere!
Systems Biology
from http://ieeecss.org/main/IoCT-report
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 19 / 24
Control is Everywhere!
Control of Arterial Pressure
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 20 / 24
Control is Everywhere!
Respiratory Control
Carotid. Delay Controller. Lungs. Delay Tissue. Delay Brain. Delay
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 21 / 24
The Course
Objectives
Accessible treatment of rigorous material (i.e. no emphasis onmath)Understanding of fundamental limitations of control systemsEmphasis on design of SISO systems and simple MIMO systemsDemonstration of the relevance of the material via examples
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 22 / 24
The Course
Goals of the Course
After this course, you should be able toDesign a SISO or MIMO control system for a reasonably complexreal-world systemUnderstand Youla parameterization for analyzing and designingfeedback loopsTune a PID controllerApply control theory to understand complex engineering systems
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 23 / 24
The Course
Course Contents
Brief review of basic control theoryFundamental limitations in SISO controlPID control design and tuningSome advanced SISO control techniquesAnalysis of MIMO systemsSISO techniques for MIMO systems
Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 24 / 24