Lecture1 Slides Syllabus History Applications
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Transcript of Lecture1 Slides Syllabus History Applications
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course information
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course information
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Example: Automotive cruise controlGoal: maintain a desired speed irrespective of changes in road profile
Throttle command Acceleration/velocity
Plant: system to be controlled (in real life)dynamical model (in analysis/simulations)
input output
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Open loop control: pre-compute the throttle angle based on desired velocity(or, just keep the gas pedal down with a stick at a fixed pre-specified position)
Why is this not a good idea?-Incomplete knowledge of car dynamics-Varying street profile-Varying wind conditions-Unpredicted changes in road texture-Etc.Net result: this arrangement will not maintain constant speed!(it will stall on the uphill, and race on the downhill)
throttleroad profile/wind
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Examples of systems:
regulate speed
regulate attituderegulate concentration
regulate speed
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Watts governor:
sensing speed
throttle varying load
Closed loop control
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Closed loop control: regulate the control command based on knowledgeof the available measurements
Idea: correct the value of the command accordingly
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Sensors: translate position, velocity, density, temperature, etc.into electrical, mechanical signals
Actuators: translate electrical, mechanical signals into force,heat, flow, etc.
(not much difference between the two --- often referred to as transducers)Examples: Honeywell temp sensor
Servo motormotor coupled to a sensor for position/velocity feedback
GyroscopeDiverse transducers
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Feedback configurations
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Various re-arraingments(and some notation)
r(t)t : time
e(t) d(t) n(t)u(t) y(t)
C P
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courtesy M.Salapaka
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courtesy M.Salapaka
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The segskate mimics
the well knownSegway
a remarkable design,impossible to fall!well almost impossible
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Standard feedback loop
r(t) e(t)d(t) n(t)
u(t) y(t)C P
Classical control:-Analysis: stability, performance-Design of C using frequency domain insightsThis course: state-space techniques-suitable for multivariable control
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