Aalborg University Esbjerg Control Theory Lecture 1

A Course for International Masters Degree in Information Technology Fall 2004

Control Theory
Introduction
G(s)
+

Youmin Zhang
-

Phone: 7912 7741 Office: 1.6 FUV Email: ymzhang@cs.aaue.dk

http://www.cs.aue.auc.dk/~ymzhang/courses/control/index.html
1 Lecture Notes on Control Theory, by Y. M. Zhang (AUE) Theory, 2

Lecture Notes on Control Theory, by Y. M. Zhang (AUE) Theory,

General Course Information on

Control Theory

Course Objectives

Lectures:

Locations: Tuesdays (B203 or B204) and Fridays (B109); Time: 8:15-12:00 Web-page: http://www.cs.aue.auc.dk/~ymzhang/courses/control/index.html

Instructor:

Youmin Zhang, FUV 1.6, Email: ymzhang@cs.aue.auc.dk

Textbook:

R.C. Dorf and R.H. Bishop, Modern Control Systems, 9th Edition, Addison Wesley, 2000

Reference books:

1.

2.

3. 4. 5. 6.

G. F. Franklin, D. J. Powell & M. L. Emami-Naeni, Feedback Control of Dynamic Systems, 4th Edition, Prentice Hall, 2002 G. F. Franklin, D. J. Powell and M. L. Workman, Digital Control of Dynamic Systems, 3rd Edition, Prentice Hall, 1997. K. Dutton, S. Thompson and B. Barraclough, The Art of Control Engineering, Addison-Wesley, 1997 T. Glad and L. Ljung, Control Theory, Taylor and Francis, 2000 K. Ogata, Modern Control Engineering, 4th Edition, Prentice Hall, 2001 J.J. DiStefano, III, A.R. Stubberind and I.J. Williams, Schaums Outline of Theory and Problems of Feedback and Control Systems, 2nd Edition, McGraw-Hill, 1994.

Useful web-pages for learning control:

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To provide a general understanding of the characteristics of dynamic systems and feedback control theory (including both classical and modern control theory). To teach classical and modern methods for analysing control system stability, dynamic (transient) performance and steady-state performance (accuracy). To teach classical and modern control system design methods.
Lecture 1 Lecture Notes on Control Theory, by Y. M. Zhang (AUE) Theory, 4

Online Control Tutorials in MATLAB: http://www.me.cmu.edu/matlab/html/index.html Web-page of the textbook: http://www.prenhall.com/dorf

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Control System Concepts

Disturbance Inputs System Outputs
Subsystem

Systems

A system is a collection of components which are coordinated together to perform a function.

Dynamic system: A system with a memory, i.e., the input value at time t will influence the output at future instants.

System
Engineering systems Biological systems Information systems Control Inputs
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Systems interact with their environment across a separating boundary. The interaction is defined in terms of variables.

En vi r on m e nt
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System inputs System outputs Environmental disturbances

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System Variables

What is Control and Control Systems?

Control is the process of causing a system variable to conform to some desired value. Manual control Automatic control (involving machines onlythe topic in this course). A control system is an interconnection of components forming a system configuration that will provide a desired system response. Types of control
+ Passive control Open-loop control Feedback Active (feedback) control - closed-loop control*
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The systems boundary depends upon the defined objective function of the system. The systems function is expressed in terms of measured output variables. The systems operation is manipulated through the control input variables. The systems operation is also affected in an uncontrolled manner through the disturbance input variables.

G(s)

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Lecture Notes on Control Theory, by Y. M. Zhang (AUE) Theory,

What is Control?

Manual versus Automatic Control

Types of Control

Control is the process of causing a system variable (e.g, temperature, position) to conform to some desired value or trajectory, called reference value or trajectory Example: driving a car implies controlling the vehicle to follow the desired path and arrive safely at a planned destination

If you drive the car yourself, you are performing a manual control of the car. If you design a machine (or use a computer) to do it, then you build an automatic control system
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Open-loop versus Closed-loop Control Systems

Open-loop/Closed-loop Systems (Contd)

Open Loop
Desired output Control signal Actuating signal Plant output

Controller

Actuator

Plant

Closed-Loop (Feedback system)

Desired output Error signal Control signal Actuating signal Plant output

Open-loop control system A system that utilizes a device to control the process without feedback. Thus the output has no effect upon the signal to the process Closed-loop feedback control system A system that uses a measurement of the output and compares it with the desired output Types of feedback control systems

+ -

Controller

Actuator

Plant

Negative feedback - the output signal is fed back so that it subtracts (-) from input signal * Positive feedback
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Sensor
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Example 1: Car and Driver

Functional Block Diagram and Time Responses

Example 1: Car and Driver

Objective function: to control the direction and speed of the car Outputs: actual direction and speed of the car Control inputs: road markings and speed signs Disturbances: road surface and grade, wind, obstacles Possible subsystems: the car alone, power steering system, braking system, . . .
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Example 2: Antenna Positioning Control System

Antenna Positioning Control System: Functional Block Diagram

Wind force

Antenna System Ref. input

volts + _ volts power torque Angular position

Difference amplifier
Error
volts

Power amplifier

Motor

Antenna

Feedback Path

Angle sensor

Original system: the antenna with electric motor drive systems. Control objective: to point the antenna in a desired reference direction. Control inputs: drive motor voltages. Outputs: the elevation and azimuth of the antenna. Disturbances: wind, rain, snow.
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Information Variables
Lecture 1

Physical Variables
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Antenna Positioning Control System: Block Diagram

Example 3: A Disk Drive

Disturbance torque

Open-loop system Td
+

r
Motor

u Tm Km

Amplifier

Reference position

Error

Ka

Antenna

(a) A disk drive

(b) Diagram of a disk drive

Angle sensor

Feedback Path

Ks

Block diagram of the closed-loop control system for a disk drive

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General Structure of Control Systems

disturbances noises disturbances noises

Control System Components

Inputs

disturbances noises

Outputs

Controllers Sensors

Actuators

System

Feedback Elements in control systems: Properties of control systems: Stability Performance Robustness
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System, plant or process (to be controlled) Actuators (converts the control signal to a power signal) Sensors (provides measurement of the system output) Reference input (represents the desired output) Error detection (forms the control error) Controller (operates on the control error to form the
control signal, sometimes called compensators)

System/Plant/Process Sensors Actuators Controllers

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Block Diagram of General Control Systems

Early Uses of Feedback Principle

Disturbance

Error

Control signal

Manipulated variable

d
+ Actual output

Set-point or Reference input

Controller Actuator

+ +

Process
y

r or yd u ua

ym Sensor

Feedback signal

From R.M. Murray, Clatech 21 Lecture 1 Lecture Notes on Control Theory, by Y. M. Zhang (AUE) Theory, 22

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Modern Applications of Control

Control Application in Automobiles

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From R.M. Murray, Clatech

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Emerging Application Areas

Other Application Areas

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Technology Trend Affecting Control

Evolution of Control

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From R.M. Murray, Clatech

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Basic Integrants in Control Systems

Modeling Time-domain method
Time-domain performance specifications Stability, transient and steady-state responses

Methods to be Covered for Analysis and Design in the Course

Laplace transforms and transfer functions, state-space model

Analysis Given a system, to analyze the systems

1. Stability 2. Dynamic characteristics 3. Steady-state characteristics

Complex-domain method
Root locus method for analysis and design of control systems

Design (Synthesis) Design a new system or compensate (modify) an existing system for Frequency-domain method

1. Stability guarantee 2. Good dynamic performance 3. Satisfactory steady-state performance

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Frequency-domain performance specifications Nyquist plots and Bode diagrams for analysis and design of control systems

Analysis and design methods based on state-space models main topics of the 2nd part of the course
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Control System Design Objectives

Control System Design Steps

Primary objectives:

1. Dynamic stability 2. Accuracy 3. Speed of response

Additional considerations:

4. Robustness (insensitivity to parameter variation) 5. Cost of control 6. System reliability

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Control System Design Steps (Contd)

Control System Design Steps (Contd)

Define the control system objectives. Identify the system boundaries.

define the input, output and disturbance variables

Determine a mathematical model for the components and subsystems. Combine the subsystems to form a model for the whole system.
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Apply analysis and design techniques to determine the control system structure and parameter values of the control components, to meet the design objectives. Test the control design on a computer simulation of the system. Implement and test the design on the actual process or plant.

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Reading and Exercises

Reading

Notice on the Project Meeting

Time: 8.9.04, Wednesday at 16.00 Location: B201

Textbook: Chapter 1

Exercises

Textbook: E1.1, E1.2, P1.3, P1.8

Everyone please attend this meeting !

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Control Theory

Any question, comment or suggestion?